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WOLFRAM SYSTEM MODELER

CutForceAndTorque

Measure cut force vector and cut torque

Diagram

Wolfram Language

In[1]:=

SystemModel["PlanarMechanics.Sensors.CutForceAndTorque"]

Out[1]:=

Information

The cut-force and cut-torque acting between the two frames to which this model is connected, are determined and provided at the output signal connectors force (= frame_a.f) and torque (= frame_a.t). If parameter positiveSign = false, the negative cut-force and cut-torque is provided (= frame_b.f, frame_b.t).

Via parameter resolveInFrame it is defined, in which frame the force vector is resolved.

Options of parameter **resolveInFrame**
resolveInFrame = …	Force vector resolved in
Types.ResolveInFrameAB.world	world frame
Types.ResolveInFrameAB.frame_a	frame_a
Types.ResolveInFrameAB.frame_b	frame_b
Types.ResolveInFrameAB.frame_resolve	frame_resolve (must be connected)

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector frame_resolve is enabled and output force is resolved in the frame, to which frame_resolve is connected. Note, if this connector is enabled, it must be connected.

In the following figure the animation of the sensor is shown. The dark blue coordinate system is frame_b, and the green arrows are the cut force and the cut torque, respectively, acting at frame_b and with negative sign at frame_a.

Parameters (3)

resolveInFrame	Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a Type: ResolveInFrameA Description: Frame in which output vector(s) is/are resolved (1: world, 2: frame_a, 3: frame_resolve)
animation	Value: true Type: Boolean Description: = true, if animation shall be enabled (show force and torque arrow)
positiveSign	Value: true Type: Boolean Description: = true, if force and torque with positive sign is returned (= frame_a.f/.t), otherwise with negative sign (= frame_b.f/.t)

resolveInFrame

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

Type: ResolveInFrameA

Description: Frame in which output vector(s) is/are resolved (1: world, 2: frame_a, 3: frame_resolve)

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled (show force and torque arrow)

positiveSign

Value: true

Type: Boolean

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

Inputs (7)

N_to_m	Default Value: planarWorld.defaultN_to_m Type: Real (N/m) Description: Force arrow scaling (length = force/N_to_m)
Nm_to_m	Default Value: planarWorld.defaultNm_to_m Type: Real (N⋅m/m) Description: Torque arrow scaling (length = torque/Nm_to_m)
forceDiameter	Default Value: planarWorld.defaultArrowDiameter Type: Diameter (m) Description: Has no longer an effect and is only kept for backwards compatibility (arrow visualization by Vector now)
torqueDiameter	Default Value: forceDiameter Type: Diameter (m) Description: Has no longer an effect and is only kept for backwards compatibility (arrow visualization by Vector now)
forceColor	Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor Type: Color Description: Color of force arrow
torqueColor	Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor Type: Color Description: Color of torque arrow
specularCoefficient	Default Value: planarWorld.defaultSpecularCoefficient Type: SpecularCoefficient Description: Reflection of ambient light (= 0: light is completely absorbed)

Connectors (5)

	frame_a	Type: Frame_a Description: Coordinate system a
	frame_b	Type: Frame_b Description: Coordinate system b
	frame_resolve	Type: Frame_resolve Description: Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero)
	force	Type: RealOutput[2] Description: Cut force resolved in frame defined by resolveInFrame
	torque	Type: RealOutput Description: Cut torque resolved in frame defined by resolveInFrame

Components (6)

	planarWorld	Type: PlanarWorld Description: Planar world coordinate system + gravity field + default animation definition
	arrowForce	Type: Vector Description: Visualizing a vector quantity (force, torque, etc.)
	arrowTorque	Type: Vector Description: Visualizing a vector quantity (force, torque, etc.)
	cutForce	Type: BasicCutForce Description: Measure cut force vector (frame_resolve must be connected)
	cutTorque	Type: BasicCutTorque Description: Measure cut-torque vector
	zeroPosition	Type: ZeroPosition Description: Set zero position vector and orientation object of frame_resolve

Revisions

DLR logo Developed 2010 at the DLR Institute of System Dynamics and Control