M113 sprocket subsystem for continuous band track (base class).

#include <M113_SprocketBand.h>

Inheritance diagram for chrono::vehicle::m113::M113_SprocketBand:
Collaboration diagram for chrono::vehicle::m113::M113_SprocketBand:

Public Member Functions

virtual int GetNumTeeth () const override
 Get the number of teeth of the gear.
virtual double GetAssemblyRadius () const override
 Get the radius of the gear. More...
virtual double GetGearMass () const override
 Return the mass of the gear body.
virtual const ChVectorGetGearInertia () override
 Return the moments of inertia of the gear body.
virtual double GetAxleInertia () const override
 Return the inertia of the axle shaft.
virtual double GetSeparation () const override
 Return the distance between the two gear profiles.
virtual double GetOuterRadius () const override
 Return the radius of the addendum circle.
virtual double GetBaseWidth () const override
 Return the base width of the sprocket profile length of the chord where the tooth profile meets the sprocket's outer radius.
virtual double GetTipWidth () const override
 Return the width of the inner tip of the sprocket profile.
virtual double GetToothDepth () const override
 Return the depth of the sprocket profile measured as the distance from the center of the profile tip line to the center of the base width line.
virtual double GetArcRadius () const override
 Return the radius of the (concave) tooth circular arc.
virtual double GetLateralBacklash () const override
 Return the allowed backlash (play) before lateral contact with track shoes is enabled (to prevent detracking).
- Public Member Functions inherited from chrono::vehicle::ChSprocketBand
 ChSprocketBand (const std::string &name)
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
virtual std::shared_ptr< geometry::ChLinePathGetProfile () const override
 Return the 2D gear profile. More...
virtual std::shared_ptr< ChSystem::CustomCollisionCallbackGetCollisionCallback (ChTrackAssembly *track) override
 Return the custom collision callback object. More...
- Public Member Functions inherited from chrono::vehicle::ChSprocket
 ChSprocket (const std::string &name)
std::shared_ptr< ChBodyGetGearBody () const
 Get a handle to the gear body.
std::shared_ptr< ChShaftGetAxle () const
 Get a handle to the axle shaft.
std::shared_ptr< ChLinkLockRevoluteGetRevolute () const
 Get a handle to the revolute joint.
double GetAxleSpeed () const
 Get the angular speed of the axle.
void SetCollide (bool val)
 Turn on/off collision flag for the gear wheel.
virtual double GetMass () const
 Get the mass of the sprocket subsystem.
std::shared_ptr< ChMaterialSurfaceGetContactMaterial () const
 Get the sprocket contact material.
void DisableLateralContact ()
 Disable lateral contact for preventing detracking (default: enabled).
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, ChTrackAssembly *track)
 Initialize this sprocket subsystem. More...
void ApplyAxleTorque (double torque)
 Apply the provided torque to the sprocket's axle (for debugging and testing). More...
std::shared_ptr< geometry::ChTriangleMeshConnectedCreateVisualizationMesh (double radius, double width, double delta, ChVector< float > color=ChVector< float >(1, 1, 1)) const
 Utility function to create a sprocket visualization mesh. More...
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the sprocket subsystem.
void LogConstraintViolations ()
 Log current constraint violations.
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
const std::string & GetName () const
 Get the name identifier for this subsystem.
void SetName (const std::string &name)
 Set the name identifier for this subsystem.
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
bool OutputEnabled () const
 Return the output state for this subsystem.

Protected Member Functions

 M113_SprocketBand (const std::string &name)
virtual void CreateContactMaterial (ChContactMethod contact_method) override
 Create the contact material consistent with the specified contact method.
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization of the sprocket.
virtual std::string GetMeshFile () const =0
- Protected Member Functions inherited from chrono::vehicle::ChSprocket
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const override
 Export this subsystem's component list to the specified JSON object.
virtual void Output (ChVehicleOutput &database) const override
 Output data for this subsystem's component list to the specified database.
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...

Static Protected Attributes

static const int m_num_teeth = 17
static const double m_gear_mass = 27.68
static const ChVector m_gear_inertia
static const double m_axle_inertia = 0.4
static const double m_separation = 0.278
static const double m_gear_outer_radius = 0.2307 * 1.04
static const double m_gear_base_width = 0.0530 * 1.04
static const double m_gear_tip_width = 0.0128 * 1.04
static const double m_gear_tooth_depth = 0.0387 * 1.04
static const double m_gear_arc_radius = 0.0542 * 1.04
static const double m_gear_RA = 0.2307 * 1.04
static const double m_lateral_backlash = 0.02

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
 Export the list of bodies to the specified JSON document.
static void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
 Export the list of shafts to the specified JSON document.
static void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
 Export the list of joints to the specified JSON document.
static void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
 Export the list of shaft couples to the specified JSON document.
static void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
 Export the list of markers to the specified JSON document.
static void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
 Export the list of translational springs to the specified JSON document.
static void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRotSpringCB >> springs)
 Export the list of rotational springs to the specified JSON document.
static void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
 Export the list of body-body loads to the specified JSON document.
- Protected Attributes inherited from chrono::vehicle::ChSprocket
std::shared_ptr< ChBodym_gear
 handle to the sprocket gear body
std::shared_ptr< ChShaftm_axle
 handle to gear shafts
std::shared_ptr< ChShaftsBodym_axle_to_spindle
 handle to gear-shaft connector
std::shared_ptr< ChLinkLockRevolutem_revolute
 handle to sprocket revolute joint
std::shared_ptr< ChMaterialSurfacem_material
 contact material;
std::shared_ptr< ChSystem::CustomCollisionCallbackm_callback
 cached collision callback
bool m_lateral_contact
 if 'true', enable lateral conatact to prevent detracking
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
bool m_output
 specifies whether or not output is generated for this subsystem

Member Function Documentation

◆ GetAssemblyRadius()

virtual double chrono::vehicle::m113::M113_SprocketBand::GetAssemblyRadius ( ) const

Get the radius of the gear.

This quantity is used during the automatic track assembly.

Implements chrono::vehicle::ChSprocket.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SprocketBand.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SprocketBand.cpp