WOLFRAM SYSTEM MODELER

CutTorque

Measure cut torque

Diagram

Wolfram Language

In[1]:=
SystemModel["PlanarMechanics.Sensors.CutTorque"]
Out[1]:=

Information

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

In the following figure the modeling and animation of this sensor is shown.

Modelica diagram
CutTorque2 animation

Parameters (2)

animation

Value: true

Type: Boolean

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

positiveSign

Value: true

Type: Boolean

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

Inputs (4)

Nm_to_m

Default Value: planarWorld.defaultNm_to_m

Type: Real (N⋅m/m)

Description: Torque arrow scaling (length = torque/Nm_to_m)

torqueDiameter

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)

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 (3)

frame_a

Type: Frame_a

Description: Coordinate system a

frame_b

Type: Frame_b

Description: Coordinate system b

torque

Type: RealOutput

Description: Cut torque resolved in frame defined by resolveInFrame

Components (3)

planarWorld

Type: PlanarWorld

Description: Planar world coordinate system + gravity field + default animation definition

arrowTorque

Type: Vector

Description: Visualizing a vector quantity (force, torque, etc.)

cutTorque

Type: BasicCutTorque

Description: Measure cut-torque vector

Revisions

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