WOLFRAM SYSTEMMODELER

BasicCutTorque

Basic sensor to measure cut torque vector (frame_resolve must be connected)

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Sensors.Internal.BasicCutTorque"]
Out[1]:=

Information

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:

resolveInFrame =
Types.ResolveInFrameA.
Meaning
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.

Parameters (2)

resolveInFrame

Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a

Type: ResolveInFrameA

Description: Frame in which output vector is resolved (world, frame_a, or frame_resolve)

positiveSign

Value: true

Type: Boolean

Description: = true, if torque with positive sign is returned (= frame_a.t), otherwise with negative sign (= frame_b.t)

Connectors (4)

frame_a

Type: Frame_a

Description: Coordinate system a

frame_b

Type: Frame_b

Description: Coordinate system b

frame_resolve

Type: Frame_resolve

Description: The output vector is optionally resolved in this frame (cut-force/-torque are set to zero)

torque

Type: RealOutput[3]

Description: Cut torque resolved in frame defined by resolveInFrame

Components (1)

world

Type: World

Used in Components (2)

CutTorque

Modelica.Mechanics.MultiBody.Sensors

Measure cut torque vector

CutForceAndTorque

Modelica.Mechanics.MultiBody.Sensors

Measure cut force and cut torque vector