.Modelica.Mechanics.MultiBody.Sensors.CutTorque .Modelica.Mechanics.MultiBody.Sensors.CutTorqueThe cut-torque acting between the two frames to which this model is connected, is determined and provided at the output signal connector torque (= frame_a.t). If parameter positiveSign = false, the negative cut-torque is provided (= frame_b.t).
Via parameter resolveInFrame it is defined, in which frame the torque 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 |
If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and output torque is 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 CutTorque sensor is shown. The dark blue coordinate system is frame_b, and the green arrow is the cut torque acting at frame_b and with negative sign at frame_a.
