WOLFRAM SYSTEM MODELER
WorldForceExternal force and torque acting at frame_b, defined by 3 input signals and resolved in world frame |
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Wolfram Language
In[1]:=
SystemModel["PlanarMechanics.Sources.WorldForce"]
Out[1]:=
Information
The 3 signals of the force connector contain force and torque.
The first and second signal are interpreted as the x- and y-coordinates of
a force and the third is torque, acting at the frame connector
to which frame_b of this component is attached.
Note that torque is a scalar quantity, which is exerted perpendicular
to the x-y plane.
An example of this model is given in the following figure:
The parameter resolveInFrame defines in which frame the input force shall be resolved.
Parameters (5)
| resolveInFrame |
Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameB.frame_b Type: ResolveInFrameB Description: Frame in which output vector r_rel shall be resolved (1: world, 2: frame_b, 3: frame_resolve) |
|---|---|
| animation |
Value: true Type: Boolean Description: = true, if animation shall be enabled |
| N_to_m |
Value: planarWorld.defaultN_to_m Type: Real (N/m) Description: Force arrow scaling (length = force/N_to_m) |
| Nm_to_m |
Value: planarWorld.defaultNm_to_m Type: Real (N⋅m/m) Description: Torque arrow scaling (length = torque/Nm_to_m) |
| zPosition |
Value: planarWorld.defaultZPosition Type: Length (m) Description: Position z of cylinder representing the fixed translation |
Inputs (3)
| diameter |
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) |
|---|---|
| color |
Default Value: PlanarMechanics.Types.Defaults.ForceColor Type: Color Description: Color of arrow |
| specularCoefficient |
Default Value: planarWorld.defaultSpecularCoefficient Type: SpecularCoefficient Description: Reflection of ambient light (= 0: light is completely absorbed) |
Connectors (3)
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frame_b |
Type: Frame_b Description: Coordinate system fixed to the component with one cut-force and cut-torque |
|---|---|---|
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force |
Type: RealInput[3] Description: x-, y-coordinates of force and torque resolved in world frame |
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frame_resolve |
Type: Frame_resolve Description: Coordinate system in which vector is optionally resolved, if useExtraFrame is true |
Components (4)
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planarWorld |
Type: PlanarWorld Description: Planar world model |
|---|---|---|
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R_0 |
Type: Orientation Description: Orientation object defining rotation from a frame 1 into a frame 2 |
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arrowForce |
Type: Vector Description: Visualizing a vector quantity (force, torque, etc.) |
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arrowTorque |
Type: Vector Description: Visualizing a vector quantity (force, torque, etc.) |
Used in Examples (1)
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PlanarMechanics.Examples A swinging pendulum excited by a world force |
Used in Components (1)
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PlanarMechanics.Sources External force and torque acting at frame_b, defined by 3 input signals and resolved in world frame |
Revisions
Developed 2010 at the DLR Institute of System Dynamics and Control