CutForce

Measure cut force vector

Diagram

Information

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

The cut-force acting between the two frames to which this model is connected, is determined and 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

If resolveInFrame = Types.ResolveInFrameAB.frame_resolve, the conditional connector "frame_resolve" is enabled and output force 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 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 (3)

resolveInFrame

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

Type: ResolveInFrameA

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

animation

Value: true

Type: Boolean

Description: = true, if animation shall be enabled (show arrow)

positiveSign

Value: true

Type: Boolean

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

Inputs (2)

forceColor

Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor

Type: Color

Description: Color of force arrow

specularCoefficient

Default Value: world.defaultSpecularCoefficient

Type: SpecularCoefficient

Description: Reflection of ambient light (= 0: light is completely absorbed)

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: Output vectors are 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 (4)

world

Type: World

forceArrow

Type: Arrow

cutForce

Type: BasicCutForce

zeroPosition

Type: ZeroPosition