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PlanarMechanics.examples.EndEffector.md

PlanarMechanics.examples.EndEffector ​

Usage ​

MultibodyComponents.PlanarMechanics.examples.EndEffector(m=8.0, I=1.0)

Parameters: ​

NameDescriptionUnitsDefault value
mkg8
Ikg.m21

Connectors ​

  • frame_a - Coordinate system (2-dim.) fixed to the component with one cut-force and cut-torque.

All variables are resolved in the planar world frame. (Frame2D)

Behavior ​

[connect(framea,body+framea)body.r(t)=arrayliteral([2],body.framea.x(t),body.framea.y(t))body.v(t)=d⋅body.r(t)dtbody.phi(t)=body.framea.phi(t)body.w(t)=d⋅body.phi(t)dtbody.a(t)=d⋅body.v(t)dtbody.alpha(t)=d⋅body.w(t)dtbody.f(t)=arrayliteral([2],body.framea.fx(t),body.framea.fy(t))body.f(t)+arrayliteral([2],body.m⋅g⋅n2d1,body.m⋅g⋅n2d2)=body.m⋅body.a(t)body.I⋅body.alpha(t)=body.framea.tau(t)body.shape.r(t)=arrayliteral([3],body.framea.x(t),body.framea.y(t),body.zposition)body.shape.R(t)=arrayliteral([33],cos⁡(−body.phi(t)),sin⁡(−body.phi(t)),0,−sin⁡(−body.phi(t)),cos⁡(−body.phi(t)),0,0,0,1)body.shape.rshape(t)=[000]body.shape.lengthdirection(t)=[001]body.shape.widthdirection(t)=[100]body.shape.length(t)=2⋅body.radiusbody.shape.width(t)=2⋅body.radiusbody.shape.height(t)=2⋅body.radius]

Source ​

dyad
component EndEffector
  frame_a = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  body = MultibodyComponents.PlanarMechanics.Body(m = m, I = I)
  parameter m::Dyad.Mass = 8.0
  parameter I::MomentOfInertia = 1.0
relations
  connect(frame_a, body.frame_a)
end
Flattened Source
dyad
component EndEffector
  frame_a = Frame2D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  body = MultibodyComponents.PlanarMechanics.Body(m = m, I = I)
  parameter m::Dyad.Mass = 8.0
  parameter I::MomentOfInertia = 1.0
relations
  connect(frame_a, body.frame_a)
metadata {}
end


Test Cases ​

No test cases defined.

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