Spring

Linear 1D rotational spring

This component extends from PartialCompliant

Usage

Spring(c, phi_rel0=0.0)

Parameters:

Connectors

• spline_a - (Spline)
• spline_b - (Spline)

Variables

Behavior

\[ \begin{align} \mathtt{phi\_rel}\left( t \right) &= \mathtt{spline\_b.phi}\left( t \right) - \mathtt{spline\_a.phi}\left( t \right) \\ \mathtt{spline\_b.tau}\left( t \right) &= \mathtt{tau}\left( t \right) \\ \mathtt{spline\_a.tau}\left( t \right) &= - \mathtt{tau}\left( t \right) \\ \mathtt{tau}\left( t \right) &= c \left( - \mathtt{phi\_rel0} + \mathtt{phi\_rel}\left( t \right) \right) \end{align} \]

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 {"Dyad": {"icons": {"default": "dyad://RotationalComponents/Spring.svg"}}}
end

# Linear 1D rotational spring
component Spring
  spline_a = Spline() [{"Dyad": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}}]
  spline_b = Spline() [{"Dyad": {"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 {"Dyad": {"icons": {"default": "dyad://RotationalComponents/Spring.svg"}}}
end

Test Cases

Related

• Examples
• Experiments
• Analyses
• Tests
  • TwoInertiasWithDrivingTorque