.Modelica.Mechanics.MultiBody.Forces.WorldForce .Modelica.Mechanics.MultiBody.Forces.WorldForceThe 3 signals of the force connector are interpreted as the x-, y- and z-coordinates of a force acting at the frame connector to which frame_b of this component is attached. Via parameter resolveInFrame it is defined, in which frame these coordinates shall be resolved:
| Types.ResolveInFrameB. | Meaning |
|---|---|
| world | Resolve input force in world frame (= default) |
| frame_b | Resolve input force in frame_b |
| frame_resolve | Resolve input force in frame_resolve (frame_resolve must be connected) |
If resolveInFrame = Types.ResolveInFrameB.frame_resolve, the force coordinates are with respect to the frame, that is connected to frame_resolve.
If force={100,0,0}, and for all parameters the default setting is used, then the interpretation is that a force of 100 N is acting along the positive x-axis of frame_b.
Note, the cut-torque in frame_b (frame_b.t) is always set to zero. Conceptually, a force and torque acts on the world frame in such a way that the force and torque balance between world.frame_b and frame_b is fulfilled. For efficiency reasons, this reaction torque is, however, not computed.
This force component is by default visualized as an arrow acting at the connector to which it is connected. The color of the arrow can be defined via variable color. The arrow points in the direction defined by the force signal. The length of the arrow is proportional to the length of the force vector using a global tool-dependent scaling factor.
An example how to use this model is given in the following figure:
This leads to the following animation
