modelCollisionNormal
Extends from Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames (Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Units.SI.TranslationalSpringConstant | c | 1e6 | Spring constant |
| Modelica.Units.SI.TranslationalDampingConstant | d | 1000.0 | Damping constant |
| Real | n_spring | 1.5 | Exponent of spring force ( f_c = -c*|s_rel-s_rel0|^n ) |
| Modelica.Mechanics.MultiBody.Types.Axis | n | {0.0, 0.0, 1.0} | Axis of translation resolved in frame_a (= same as in frame_b) |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.Frame_a | frame_a (from PartialTwoFrames) | Coordinate system a fixed to the component with one cut-force and cut-torque | |
| Interfaces.Frame_b | frame_b (from PartialTwoFrames) | Coordinate system b fixed to the component with one cut-force and cut-torque | |
| Modelica.Blocks.Interfaces.RealOutput | fN | Normal Force |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.Translational.Sensors.ForceSensor | forceSensor | ||
| Modelica.Mechanics.Translational.Components.ElastoGap | elastoGap | ||
| Modelica.Mechanics.MultiBody.Joints.Prismatic | prismaticZ |