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CutForce.md

CutForce ​

Inline sensor measuring the cut force passing through the connection.

Rigidly connects frame_a and frame_b (same position, orientation), passes forces and torques through, and reports the cut force at frame_a resolved in the selected frame.

Usage ​

MultibodyComponents.CutForce()

Parameters: ​

NameDescriptionUnitsDefault value
resolve_in_frame–ResolveInFrame.FrameA()

Connectors ​

  • frame_a - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

  • frame_b - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

  • force_x - This connector represents a real signal as an output from a component (RealOutput)

  • force_y - This connector represents a real signal as an output from a component (RealOutput)

  • force_z - This connector represents a real signal as an output from a component (RealOutput)

Variables ​

NameDescriptionUnits
forceN

Behavior ​

Dict{MIME{Symbol("text/plain")}, String} with 1 entry: MIME type text/plain => "Error displaying result"

Source ​

dyad
"""
Inline sensor measuring the cut force passing through the connection.

Rigidly connects `frame_a` and `frame_b` (same position, orientation),
passes forces and torques through, and reports the cut force at `frame_a`
resolved in the selected frame.
"""
component CutForce
  frame_a = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_b = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 950, "y1": 450, "x2": 1050, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  force_x = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 130, "y1": 970, "x2": 230, "y2": 1070, "rot": 90}
      },
      "tags": []
    }
  }
  force_y = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 960, "x2": 550, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  force_z = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 770, "y1": 960, "x2": 870, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  structural parameter resolve_in_frame::ResolveInFrame = ResolveInFrame.FrameA()
  variable force::Dyad.Force[3]
relations
  # Rigid connection
  frame_a.r_0 = frame_b.r_0
  frame_b.R = frame_a.R
  # Force and torque pass through
  frame_a.f + frame_b.f = [0, 0, 0]
  frame_a.tau + frame_b.tau = [0, 0, 0]
  switch resolve_in_frame
    case FrameA
      force = frame_a.f
    case World
      force = resolve1(frame_a.R, frame_a.f)
  end
  [force_x, force_y, force_z] = force
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/TwoFrameSensor.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "140"}
      },
      {"label": "cut force", "x": 500, "y": 680, "rot": 0}
    ]
  }
}
end
Flattened Source
dyad
"""
Inline sensor measuring the cut force passing through the connection.

Rigidly connects `frame_a` and `frame_b` (same position, orientation),
passes forces and torques through, and reports the cut force at `frame_a`
resolved in the selected frame.
"""
component CutForce
  frame_a = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_b = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 950, "y1": 450, "x2": 1050, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  force_x = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 130, "y1": 970, "x2": 230, "y2": 1070, "rot": 90}
      },
      "tags": []
    }
  }
  force_y = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 450, "y1": 960, "x2": 550, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  force_z = RealOutput() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 770, "y1": 960, "x2": 870, "y2": 1060, "rot": 90}
      },
      "tags": []
    }
  }
  structural parameter resolve_in_frame::ResolveInFrame = ResolveInFrame.FrameA()
  variable force::Dyad.Force[3]
relations
  # Rigid connection
  frame_a.r_0 = frame_b.r_0
  frame_b.R = frame_a.R
  # Force and torque pass through
  frame_a.f + frame_b.f = [0, 0, 0]
  frame_a.tau + frame_b.tau = [0, 0, 0]
  switch resolve_in_frame
    case FrameA
      force = frame_a.f
    case World
      force = resolve1(frame_a.R, frame_a.f)
  end
  [force_x, force_y, force_z] = force
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/TwoFrameSensor.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 150,
        "rot": 0,
        "attrs": {"font-size": "140"}
      },
      {"label": "cut force", "x": 500, "y": 680, "rot": 0}
    ]
  }
}
end


Test Cases ​

No test cases defined.