modelCollisionPoint
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.Units.SI.CoefficientOfFriction | mue | 0.4 | Sliding friction coefficient |
| Modelica.Units.SI.Velocity | vd | 0.01 | Sliding friction velocity deadband |
| Modelica.Mechanics.MultiBody.Types.Axis | n_x | {1.0, 0.0, 0.0} | Tangential vector 1 |
| Modelica.Mechanics.MultiBody.Types.Axis | n_y | {0.0, 1.0, 0.0} | Tangential vector 2 |
| Modelica.Mechanics.MultiBody.Types.Axis | n_z | {0.0, 0.0, 1.0} | Normal vector |
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 |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Modelica.Mechanics.MultiBody.Joints.Spherical | spherical | ||
| CollisionNormal | collisionNormal | ||
| CollisionTangential | friction |