CutForceAndTorque
Measure cut force and cut torque vector
Library
Mechanics/MultiBody/Sensors
Description
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 two vectors are 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 |
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and the output vectors force and torque are 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 a CutForceAndTorque 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
Name | Label | Description | Data Type | Valid Values |
---|---|---|---|---|
mo_animation | animation | = true, if animation shall be enabled (show force and torque arrow) | Scalar | true |
mo_positiveSign | positiveSign | = true, if force and torque with positive sign is returned (= frame_a.f/.t), otherwise with negative sign (= frame_b.f/.t) | Scalar | true |
mo_N_to_m | N_to_m | Force arrow scaling (length = force/N_to_m) | Scalar | |
mo_Nm_to_m | Nm_to_m | Torque arrow scaling (length = torque/Nm_to_m) | Scalar | |
mo_forceDiameter | forceDiameter | Diameter of force arrow | Scalar | |
mo_torqueDiameter | torqueDiameter | Diameter of torque arrow | Scalar | |
mo_forceColor | forceColor | Color of force arrow | Vector of size 3 | |
mo_torqueColor | torqueColor | Color of torque arrow | Vector of size 3 | |
mo_specularCoefficient | specularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) | Scalar | |
mo_resolveInFrame | resolveInFrame | Frame in which output vector(s) is/are resolved (world, frame_a, or frame_resolve) | Structure | |
mo_resolveInFrame/choice1 | Resolve in world frame | Number | 0 | |
mo_resolveInFrame/choice2 | Resolve in frame_a | Number | 0 | |
mo_resolveInFrame/choice3 | Resolve in frame_resolve (frame_resolve must be connected) | Number | 0 | |
mo_csign | csign | Scalar |
Name | Label | Description | Data Type | Valid Values |
---|---|---|---|---|
mo_force | force | force | Structure | |
mo_force/fixed | fixed | Cell of vectors of size 3 | true | |
mo_force/start | start | Cell of vectors of size 3 | ||
mo_torque | torque | torque | Structure | |
mo_torque/fixed | fixed | Cell of vectors of size 3 | true | |
mo_torque/start | start | Cell of vectors of size 3 |
Ports
Name | Type | Description | IO Type | Number |
---|---|---|---|---|
force | implicit | Cut force resolved in frame defined by resolveInFrame | output | 1 |
torque | implicit | Cut torque resolved in frame defined by resolveInFrame | output | 2 |
frame_a | implicit | Coordinate system a | input | 1 |
frame_b | implicit | Coordinate system b | output | 3 |
Port 5 | implicit | Output vectors are optionally resolved in this frame (cut-force/-torque are set to zero) | output | mo_resolveInFrame.choice3 |