LIBRARY

Spring

Linear 1D rotational spring

This component extends from PartialCompliant

Usage

Spring(c, phi_rel0=0.0)

Parameters:

Name	Description	Units	Default value
c	Spring constant	N.m/rad
phi_rel0	Unstretched spring angle	rad	0

Connectors

• spline_a - (Spline)

• spline_b - (Spline)

Variables

Name	Description	Units
phi_rel	Relative rotation angle between splines	rad
tau	Torque between splines	N.m

Behavior

Source

# Linear 1D rotational spring
component Spring
  extends PartialCompliant
  # Spring constant
  parameter c::RotationalSpringConstant
  # Unstretched spring angle
  parameter phi_rel0::Angle = 0.0
relations
  tau = c*(phi_rel-phi_rel0)
metadata {"JuliaSim": {"icons": {"default": "jsml://RotationalComponents/Spring.svg"}}}
end

Flattened Source

# Linear 1D rotational spring
component Spring
  spline_a = Spline() [{
    "JuliaSim": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}
  }]
  spline_b = Spline() [{
    "JuliaSim": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}
  }]
  # Relative rotation angle between splines
  variable phi_rel::Angle
  # Torque between splines
  variable tau::Torque
  # Spring constant
  parameter c::RotationalSpringConstant
  # Unstretched spring angle
  parameter phi_rel0::Angle = 0.0
relations
  phi_rel = spline_b.phi-spline_a.phi
  spline_b.tau = tau
  spline_a.tau = -tau
  tau = c*(phi_rel-phi_rel0)
metadata {"JuliaSim": {"icons": {"default": "jsml://RotationalComponents/Spring.svg"}}}
end

Test Cases

Related

• Examples

• Experiments

• Analyses

• Tests

  • TwoInertiasWithDrivingTorque