GenericResponse

Defines a generic response. This is the same as the MSOLVE API Rv element.

Example

Assume that you want to determine the total energy required to drive a motion in a revolute joint during a simulation. Assume that the joint is defined with an I MARKER=22, and J MARKER=33. Here is how you would instantiate a response that performs the desired calculation.

First, we begin by noting that the instantaneous power required to drive the motion in a revolute joint is defined as:(1)

\begin{array}{l} I n s t a n t a n e o u s P o w e r = | (T o r q u e i n J o i n t) * (A n g u l a r V e l o c i t y i n J o i n t) | \\ = {\int_{T_{0}}^{T_{f}} (I n s t a n t a n e o u s P o w e r) d t}_{}^{} \\ = \int_{T_{0}}^{T_{f}} (| T o r q u e i n J o i n t) * (A n g u l a r V e l o c i t y i n J o i n t) |) d t \end{array}

Now we can define the total energy expended in driving the motion as follows:

>>> # Instantaneous torque and angular velocity in the revolute joint
>>> torque = “TZ(22,33,33)”
>>> wz     = “WZ(22,33,33)”
>>>
>>> Instantaneous Power
>>> iPower = “ABS({torque}*{wz})”.format(torque=torque, wz=wz)
>>>
>>> #The total energy expended by the motion
>>> energy = GenericResponse ( 
      label    = "Total energy of Motion",
      function = iPower
    )

The calculations in GenericResponse are implemented as:(2)

e n e r g y = \int_{T_{0}}^{T_{f}} (| T Z (22, 33, 33) * W Z (22, 33, 33) |)