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Sensors.TorqueSensor.md

Sensors.TorqueSensor ​

Ideal sensor measuring the torque transmitted between two rotational splines.

This ideal sensor measures the torque exchanged between two coaxial rotational splines, spline_a and spline_b It enforces that the splines are rigidly connected, meaning there is no relative angular displacement between them. The relationship is described by the equation:

'_' allowed only in math mode

The sensor provides an output signal, tau, which represents the torque transmitted through the splines. This output is set equal to the torque acting on spline_a (denoted ):

'_' allowed only in math mode

where   is the torque variable of the spline*a connector. This is an ideal component as it introduces no mechanical losses, inertia, or backlash.

This component extends from RotationalComponents.Interfaces.PartialRelativeSensor

Usage ​

RotationalComponents.Sensors.TorqueSensor()

Connectors ​

  • spline_a - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)

  • spline_b - This connector represents a rotational spline with angle and torque as the potential and flow variables, respectively. (Spline)

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

Behavior ​

Source ​

dyad
"""
Ideal sensor measuring the torque transmitted between two rotational splines.

This ideal sensor measures the torque exchanged between two coaxial rotational splines,
`spline_a` and `spline_b` It enforces that the splines are rigidly connected,
meaning there is no relative angular displacement between them. The relationship
is described by the equation:
```math
\text{spline\\_a}.\\phi = \text{spline\\_b}.\\phi
```
The sensor provides an output signal, `tau`, which represents the torque transmitted
through the splines.
This output is set equal to the torque acting on `spline_a` (denoted \$\tau_a\$):
```math
\tau = \text{spline\\_a}.\tau
```
where \$\tau_a\$ is the torque variable of the `spline_a` connector. This is an
ideal component as it introduces no mechanical losses, inertia, or backlash.
"""
component TorqueSensor
  extends RotationalComponents.Interfaces.PartialRelativeSensor
  "Output signal representing the measured torque transmitted between the splines."
  tau = RealOutput() {
    "Dyad": {
      "placement": {"icon": {"x1": 100, "y1": 950, "x2": 200, "y2": 1050, "rot": 90}}
    }
  }
relations
  spline_a.phi = spline_b.phi
  spline_a.tau = tau
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Sensor-Power-Torque.svg"}}
}
end
Flattened Source
dyad
"""
Ideal sensor measuring the torque transmitted between two rotational splines.

This ideal sensor measures the torque exchanged between two coaxial rotational splines,
`spline_a` and `spline_b` It enforces that the splines are rigidly connected,
meaning there is no relative angular displacement between them. The relationship
is described by the equation:
```math
\text{spline\\_a}.\\phi = \text{spline\\_b}.\\phi
```
The sensor provides an output signal, `tau`, which represents the torque transmitted
through the splines.
This output is set equal to the torque acting on `spline_a` (denoted \$\tau_a\$):
```math
\tau = \text{spline\\_a}.\tau
```
where \$\tau_a\$ is the torque variable of the `spline_a` connector. This is an
ideal component as it introduces no mechanical losses, inertia, or backlash.
"""
component TorqueSensor
  "Left spline connector for the sensor."
  spline_a = Spline() {"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}
  "Right spline connector for the sensor."
  spline_b = Spline() {"Dyad": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}}
  "Output signal representing the measured torque transmitted between the splines."
  tau = RealOutput() {
    "Dyad": {
      "placement": {"icon": {"x1": 100, "y1": 950, "x2": 200, "y2": 1050, "rot": 90}}
    }
  }
relations
  0 = spline_a.tau + spline_b.tau
  spline_a.phi = spline_b.phi
  spline_a.tau = tau
metadata {
  "Dyad": {"icons": {"default": "dyad://RotationalComponents/Sensor-Power-Torque.svg"}}
}
end


Test Cases ​

No test cases defined.

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