`PowerSensor`

Ideal sensor measuring the translational power flowing through a point.

This component measures the instantaneous mechanical translational power. It is intended to measure power calculated at flange_a. The sensor is ideal: it does not dissipate energy or introduce any mechanical impedance beyond its defining equations. A key characteristic is the constraint $f l a n g e_{a} . s = f l a n g e_{b} . s$ , which means both flanges share the same position and, consequently, the same velocity. The sensor thus measures the power flowing through the connection point flange_a, while flange_b serves to complete the mechanical path with identical motion. The measured power $P$ is defined as:

P = F \cdot v

math

where $F$ corresponds to the force flange_a.f at flange_a and $v$ corresponds to the velocity der(flange_a.s) of flange_a.

This component extends from PartialRelativeSensor

Usage

TranslationalComponents.PowerSensor()

Connectors

flange_a - This connector represents a mechanical flange with position and force as the potential and flow variables, respectively. (Flange)
flange_b - This connector represents a mechanical flange with position and force as the potential and flow variables, respectively. (Flange)
power - This connector represents a real signal as an output from a component (RealOutput)

Behavior

\begin{aligned} 0 & = flange_b . f (t) + flange_a . f (t) \\ flange_a . s (t) & = flange_b . s (t) \\ power (t) & = \frac{d flange_a . s (t)}{d t} flange_a . f (t) \end{aligned}

Source

dyad

"""
Ideal sensor measuring the translational power flowing through a point.

This component measures the instantaneous mechanical translational power.
It is intended to measure power calculated at `flange_a`.
The sensor is ideal: it does not dissipate energy or introduce any mechanical impedance beyond its defining equations.
A key characteristic is the constraint $flange_a.s = flange_b.s$, which means
both flanges share the same position and, consequently, the same velocity.
The sensor thus measures the power flowing through the connection point `flange_a`,
while `flange_b` serves to complete the mechanical path with identical motion.
The measured power $P$ is defined as:

math P = F \cdot v

w h e r e $ F $ c o r r e s p o n d s t o t h e f o r c e ‘ f l a n g e_{a} . f ‘ a t ‘ f l a n g e_{a} ‘ a n d $ v $ c o r r e s p o n d s t o t h e v e l o c i t y ‘ d e r (f l a n g e_{a} . s) ‘ o f ‘ f l a n g e_{a} ‘ . " " " c o m p o n e n t P o w e r S e n s o r e x t e n d s P a r t i a l R e l a t i v e S e n s o r " O u t p u t s i g n a l r e p r e s e n t i n g t h e m e a s u r e d p o w e r, c a l c u l a t e d a s p o w e r i n f l a n g e ‘ f l a n g e_{a} ‘ . " p o w e r = R e a l O u t p u t () " D y a d " : " p l a c e m e n t " : " i c o n " : " x 1 " : 450, " y 1 " : 950, " x 2 " : 550, " y 2 " : 1050, " r o t " : 90 r e l a t i o n s f l a n g e_{a} . s = f l a n g e_{b} . s p o w e r = f l a n g e_{a} . f * d e r (f l a n g e_{a} . s) m e t a d a t a " D y a d " : " i c o n s " : " d e f a u l t " : " d y a d : / / T r a n s l a t i o n a l C o m p o n e n t s / R e l a t i v e S e n s o r . s v g " e n d

Flattened Source

dyad

"""
Ideal sensor measuring the translational power flowing through a point.

This component measures the instantaneous mechanical translational power.
It is intended to measure power calculated at `flange_a`.
The sensor is ideal: it does not dissipate energy or introduce any mechanical impedance beyond its defining equations.
A key characteristic is the constraint $flange_a.s = flange_b.s$, which means
both flanges share the same position and, consequently, the same velocity.
The sensor thus measures the power flowing through the connection point `flange_a`,
while `flange_b` serves to complete the mechanical path with identical motion.
The measured power $P$ is defined as:

math P = F \cdot v

w h e r e $ F $ c o r r e s p o n d s t o t h e f o r c e ‘ f l a n g e_{a} . f ‘ a t ‘ f l a n g e_{a} ‘ a n d $ v $ c o r r e s p o n d s t o t h e v e l o c i t y ‘ d e r (f l a n g e_{a} . s) ‘ o f ‘ f l a n g e_{a} ‘ . " " " c o m p o n e n t P o w e r S e n s o r " N e g a t i v e c o n n e c t i o n f l a n g e o f t h e s e n s o r, o f t e n c o n s i d e r e d t h e r e f e r e n c e p o i n t . " f l a n g e_{a} = F l a n g e () " D y a d " : " p l a c e m e n t " : " i c o n " : " x 1 " : - 50, " y 1 " : 450, " x 2 " : 50, " y 2 " : 550 " P o s i t i v e c o n n e c t i o n f l a n g e o f t h e s e n s o r, w h e r e t h e m e a s u r e m e n t i s t a k e n r e l a t i v e t o f l a n g e_{a} . " f l a n g e_{b} = F l a n g e () " D y a d " : " p l a c e m e n t " : " i c o n " : " x 1 " : 950, " y 1 " : 450, " x 2 " : 1050, " y 2 " : 550 " O u t p u t s i g n a l r e p r e s e n t i n g t h e m e a s u r e d p o w e r, c a l c u l a t e d a s p o w e r i n f l a n g e ‘ f l a n g e_{a} ‘ . " p o w e r = R e a l O u t p u t () " D y a d " : " p l a c e m e n t " : " i c o n " : " x 1 " : 450, " y 1 " : 950, " x 2 " : 550, " y 2 " : 1050, " r o t " : 90 r e l a t i o n s 0 = f l a n g e_{a} . f + f l a n g e_{b} . f f l a n g e_{a} . s = f l a n g e_{b} . s p o w e r = f l a n g e_{a} . f * d e r (f l a n g e_{a} . s) m e t a d a t a " D y a d " : " i c o n s " : " d e f a u l t " : " d y a d : / / T r a n s l a t i o n a l C o m p o n e n t s / R e l a t i v e S e n s o r . s v g " e n d

Test Cases

No test cases defined.

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PowerSensor ​

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`PowerSensor`

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