.PlanarMechanics.Sensors.CutForceAndTorque .PlanarMechanics.Sensors.CutForceAndTorqueThe cut-force and cut-torque acting between the two frames to
which this model is connected, are determined and provided at the
output signal connectors force
(= frame_a.f) and torque
(= frame_a.t). If parameter
positiveSign = false, the negative cut-force and
cut-torque is provided (= frame_b.f,
frame_b.t).
Via parameter resolveInFrame it is defined, in
which frame the force vector is resolved.
| resolveInFrame = … | Force vector resolved in |
|---|---|
| Types.ResolveInFrameAB.world | world frame |
| Types.ResolveInFrameAB.frame_a | frame_a |
| Types.ResolveInFrameAB.frame_b | frame_b |
| Types.ResolveInFrameAB.frame_resolve | frame_resolve (must be connected) |
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 the sensor is shown.
The dark blue coordinate system is frame_b, and the
green arrows are the cut force and the cut torque, respectively,
acting at frame_b and with negative sign at
frame_a.
Developed 2010 at the DLR Institute of System
Dynamics and Control