.Modelica.Mechanics.MultiBody.Sensors.CutForceAndTorque

Information

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.


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