BasicCutForce

Basic sensor to measure cut force vector (frame_resolve must be connected)

Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

This basic sensor is aimed to be used within advanced sensors where the cut-force acting between the two frames is determined to which this model is connected. This cut-force is provided at the output signal connector force (= frame_a.f). If parameter positiveSign = false, the negative cut-force is provided (= frame_b.f).

Via parameter resolveInFrame it is defined in which frame the force vector is 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

In this basic sensor model, the connector frame_resolve is always enabled and must be connected. If resolveInFrame = Types.ResolveInFrameA.frame_resolve, the vector force is resolved in the frame to which frame_resolve is connected.

In the following figure the animation of a CutForce sensor is shown. The dark blue coordinate system is frame_b, and the green arrow is the cut force acting at frame_b and with negative sign at frame_a.

Parameters (2)

resolveInFrame

Value: Modelica.Mechanics.MultiBody.Types.ResolveInFrameA.frame_a

Type: ResolveInFrameA

Description: Frame in which output vector is resolved (world, frame_a, or frame_resolve)

positiveSign

Value: true

Type: Boolean

Description: = true, if force with positive sign is returned (= frame_a.f), otherwise with negative sign (= frame_b.f)

Connectors (4)

frame_a

Type: Frame_a

Description: Coordinate system a

frame_b

Type: Frame_b

Description: Coordinate system b

frame_resolve

Type: Frame_resolve

Description: The output vector is optionally resolved in this frame (cut-force/-torque are set to zero)

force

Type: RealOutput[3]

Description: Cut force resolved in frame defined by resolveInFrame

Components (1)

world

Type: World

Used in Components (2)

CutForce

Modelica.Mechanics.MultiBody.Sensors

Measure cut force vector

CutForceAndTorque

Modelica.Mechanics.MultiBody.Sensors

Measure cut force and cut torque vector