modelWorldForceAndTorque
Extends from Modelica.Mechanics.MultiBody.Interfaces.PartialOneFrame_b (Base model for components providing one frame_b connector + outer world + assert to guarantee that the component is connected), ObsoleteModelica3.Icons.ObsoleteModel (Icon for an obsolete model (use only for this case)).
Information
The 6 signals of the load connector are interpreted as the x-, y- and z-coordinates of a force and as the x-, y-, and z-coordinates of a torque resolved in the world frame and acting at the frame connector to which this component is attached. The input signals are mapped to the force and torque in the following way:
force = load[1:3] torque = load[4:6]
The force and torque are by default visualized as an arrow (force) and as a double arrow (torque) acting at the connector to which they are connected. The diameters and colors of the arrows are fixed and can be defined via parameters forceDiameter, torqueDiameter, forceColor and torqueColor. The arrows point in the directions defined by the inPort.signal signals. The lengths of the arrows are proportional to the length of the force and torque vectors, respectively, using parameters N_to_m and Nm_to_m as scaling factors. For example, if N_to_m = 100 N/m, then a force of 350 N is displayed as an arrow of length 3.5 m.
An example how to use this model is given in the following figure:
This leads to the following animation
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Boolean | animation | true | = true, if animation shall be enabled |
| if animation = true | |||
| Real | N_to_m | world.defaultN_to_m | Force arrow scaling (length = force/N_to_m) |
| Real | Nm_to_m | world.defaultNm_to_m | Torque arrow scaling (length = torque/Nm_to_m) |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.Frame_b | frame_b (from PartialOneFrame_b) | Coordinate system fixed to the component with one cut-force and cut-torque | |
| Modelica.Blocks.Interfaces.RealInput[6] | load | [1:6] = x-, y-, z-coordinates of force and x-, y-, z-coordiantes of torque resolved in world frame |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Diameter | forceDiameter | world.defaultArrowDiameter | Diameter of force arrow |
| SI.Diameter | torqueDiameter | forceDiameter | Diameter of torque arrow |
| Types.Color | forceColor | Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor | Color of force arrow |
| Types.Color | torqueColor | Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor | Color of torque arrow |
| Types.SpecularCoefficient | specularCoefficient | world.defaultSpecularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) |