WOLFRAM SYSTEM MODELER
This information is part of the Modelica Standard Library maintained by the Modelica Association.
This basic sensor is aimed to be used within advanced sensors where the cut-torque acting between the two frames is determined to which this model is connected. This cut-torque is provided at the output signal connector torque (= frame_a.f). If parameter positiveSign = false, the negative cut-torque is provided (= frame_b.f).
Via parameter resolveInFrame it is defined in which frame the torque vector is resolved:
|world||Resolve vector in world frame|
|frame_a||Resolve vector in frame_a|
|frame_resolve||Resolve vector in frame_resolve|
In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector torque is resolved in the frame to which frame_resolve is connected.
In the following figure the animation of a CutTorque sensor is shown. The dark blue coordinate system is frame_b, and the green arrow is the cut torque acting at frame_b and with negative sign at frame_a.
Description: Frame in which output vector is resolved (world, frame_a, or frame_resolve)
Description: = true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)
Description: Coordinate system a
Description: Coordinate system b
Description: The output vector is optionally resolved in this frame (cut-force/-torque are set to zero)
Description: Cut torque resolved in frame defined by resolveInFrame