.PlanarMechanics.Interfaces.Frame_a .PlanarMechanics.Interfaces.Frame_aFrame_a is a connector, which lies at the origin of the coordinate system attached to it. Cut-force and cut_torque act at the origin of the coordinate system and are resolved in planarWorld frame. Normally, this connector is fixed to a mechanical component. The same as Frame_b.
Developed 2010 at the DLR Institute of System Dynamics and Control