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PlanarMechanics.examples.EndEffector.md

PlanarMechanics.examples.EndEffector ​

Usage ​

MultibodyComponents.PlanarMechanics.examples.EndEffector(radius=0.2, m=8.0, I=1.0)

Parameters: ​

NameDescriptionUnitsDefault value
radiusm0.2
mkg8.0
Ikg.m21.0

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 ​

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(final m = m, final I = I, final radius = radius)
  parameter radius::Length = 0.2
  parameter m::Dyad.Mass = 8.0
  parameter I::MomentOfInertia = 1.0
relations
  connect(frame_a, body.frame_a)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/EndEffector.svg"},
    "labels": [
      {
        "label": "a",
        "x": 80,
        "y": 410,
        "rot": 0,
        "layer": "icon",
        "attrs": {
          "fill": "#333",
          "font-size": "80",
          "font-weight": "bold",
          "text-anchor": "middle",
          "dominant-baseline": "central"
        }
      }
    ]
  }
}
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(final m = m, final I = I, final radius = radius)
  parameter radius::Length = 0.2
  parameter m::Dyad.Mass = 8.0
  parameter I::MomentOfInertia = 1.0
relations
  connect(frame_a, body.frame_a)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/EndEffector.svg"},
    "labels": [
      {
        "label": "a",
        "x": 80,
        "y": 410,
        "rot": 0,
        "layer": "icon",
        "attrs": {
          "fill": "#333",
          "font-size": "80",
          "font-weight": "bold",
          "text-anchor": "middle",
          "dominant-baseline": "central"
        }
      }
    ]
  }
}
end


Test Cases ​

No test cases defined.

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