Description

Class for defining a gearbox with 1D input and 1D output, but with different directions in 3D space.

Basically it defines a transmission ratio between two 1D entities of ChShaft type, and transmits the reaction of the gearbox to a 3D body that acts as the support truss. A typical example is the case of a gearbox with bevel gears, where input shaft and output shaft are at 90 degrees. Note that the more basic ChShaftsGear can do the same, except that it does not provide a way to transmit reaction to a truss body.

#include <ChShaftsGearboxAngled.h>

Inheritance diagram for chrono::ChShaftsGearboxAngled:

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Collaboration diagram for chrono::ChShaftsGearboxAngled:

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Public Member Functions
	ChShaftsGearboxAngled (const ChShaftsGearboxAngled &other)

virtual ChShaftsGearboxAngled *	Clone () const override
	"Virtual" copy constructor (covariant return type).

ChShaft *	GetShaft1 () const
	Get the first shaft (carrier wheel).

ChShaft *	GetShaft2 () const
	Get the second shaft.

ChBodyFrame *	GetBodyTruss () const
	Get the third shaft.

void	SetTransmissionRatio (double mt0)
	Set the transmission ratio t, as in w2=tw1, or t=w2/w1 , or tw1 - w2 = 0. More...

double	GetTransmissionRatio () const
	Get the transmission ratio t, as in w2=t*w1, or t=w2/w1.

void	SetShaftDirection1 (ChVector3d md)
	Set the direction of shaft 1 (input) respect to 3D body. More...

void	SetShaftDirection2 (ChVector3d md)
	Set the direction of shaft 2 (output) respect to 3D body. More...

const ChVector3d &	GetShaftDirection1 () const
	Get the direction of the shaft 1 (input) respect to 3D body. More...

const ChVector3d &	GetShaftDirection2 () const
	Get the direction of the shaft 2 (input) respect to 3D body. More...

double	GetReaction1 () const
	Get the reaction torque considered as applied to the 1st axis.

double	GetReaction2 () const
	Get the reaction torque considered as applied to the 2nd axis.

ChVector3d	GetTorqueReactionOnBody () const
	Get the reaction torque considered as applied to the body. More...

virtual bool	Initialize (std::shared_ptr< ChShaft > shaft_1, std::shared_ptr< ChShaft > shaft_2, std::shared_ptr< ChBodyFrame > truss, ChVector3d &dir_1, ChVector3d &dir_2)
	Initialize this gear coupling, given two shafts to join, and the 3D body that acts as a truss. More...

virtual void	ArchiveOut (ChArchiveOut &archive_out) override
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &archive_in) override
	Method to allow deserialization of transient data from archives.

Public Member Functions inherited from chrono::ChPhysicsItem
	ChPhysicsItem (const ChPhysicsItem &other)

ChSystem *	GetSystem () const
	Get the pointer to the parent ChSystem().

virtual void	SetSystem (ChSystem *m_system)
	Set the pointer to the parent ChSystem(). More...

void	AddVisualModel (std::shared_ptr< ChVisualModel > model)
	Add an (optional) visualization model. More...

std::shared_ptr< ChVisualModel >	GetVisualModel () const
	Access the visualization model (if any). More...

void	AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>())
	Add the specified visual shape to the visualization model. More...

std::shared_ptr< ChVisualShape >	GetVisualShape (unsigned int i) const
	Access the specified visualization shape in the visualization model (if any). More...

void	AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA)
	Add the specified FEA visualization object to the visualization model. More...

std::shared_ptr< ChVisualShapeFEA >	GetVisualShapeFEA (unsigned int i) const
	Access the specified FEA visualization object in the visualization model (if any). More...

virtual ChFrame	GetVisualModelFrame (unsigned int nclone=0) const
	Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More...

virtual unsigned int	GetNumVisualModelClones () const
	Return the number of clones of the visual model associated with this physics item. More...

void	AddCamera (std::shared_ptr< ChCamera > camera)
	Attach a ChCamera to this physical item. More...

std::vector< std::shared_ptr< ChCamera > >	GetCameras () const
	Get the set of cameras attached to this physics item.

virtual bool	IsActive () const
	Return true if the object is active and included in dynamics.

virtual bool	IsCollisionEnabled () const
	Tell if the object is subject to collision. More...

virtual void	AddCollisionModelsToSystem (ChCollisionSystem *coll_sys) const
	Add to the provided collision system any collision models managed by this physics item. More...

virtual void	RemoveCollisionModelsFromSystem (ChCollisionSystem *coll_sys) const
	Remove from the provided collision system any collision models managed by this physics item. More...

virtual void	SyncCollisionModels ()
	Synchronize the position and bounding box of any collsion models managed by this physics item.

virtual ChAABB	GetTotalAABB ()
	Get the entire AABB axis-aligned bounding box of the object. More...

virtual void	GetCenter (ChVector3d &mcenter)
	Get a symbolic 'center' of the object. More...

virtual void	Setup ()
	This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh)

virtual void	Update (bool update_assets=true)
	As above, but does not require updating of time-dependent data. More...

virtual void	ForceToRest ()
	Set zero speed (and zero accelerations) in state, without changing the position. More...

virtual unsigned int	GetNumCoordsPosLevel ()
	Get the number of coordinates at the position level. More...

virtual unsigned int	GetNumCoordsVelLevel ()
	Get the number of coordinates at the velocity level. More...

virtual unsigned int	GetNumConstraints ()
	Get the number of scalar constraints.

virtual unsigned int	GetNumConstraintsUnilateral ()
	Get the number of unilateral scalar constraints.

unsigned int	GetOffset_x ()
	Get offset in the state vector (position part)

unsigned int	GetOffset_w ()
	Get offset in the state vector (speed part)

unsigned int	GetOffset_L ()
	Get offset in the lagrangian multipliers.

void	SetOffset_x (const unsigned int moff)
	Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_w (const unsigned int moff)
	Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this.

void	SetOffset_L (const unsigned int moff)
	Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this.

virtual void	IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T)
	From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More...

virtual void	IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update)
	From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More...

virtual void	IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a)
	From item's state acceleration to global acceleration vector. More...

virtual void	IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a)
	From global acceleration vector to item's state acceleration. More...

virtual void	IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv)
	Computes x_new = x + Dt , using vectors at specified offsets. More...

virtual void	IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv)
	Computes Dt = x_new - x, using vectors at specified offsets. More...

virtual void	IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c)
	Takes the F force term, scale and adds to R at given offset: R += c*F. More...

virtual void	IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c)
	Takes the Mv term, multiplying mass by a vector, scale and adds to R at given offset: R += cM*w. More...

virtual void	IntLoadLumpedMass_Md (const unsigned int off, ChVectorDynamic<> &Md, double &err, const double c)
	Adds the lumped mass to a Md vector, representing a mass diagonal matrix. More...

virtual void	IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c)
	Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More...

virtual void	InjectVariables (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChVariable objects associated with this item.

virtual void	InjectKRMMatrices (ChSystemDescriptor &descriptor)
	Register with the given system descriptor any ChKRMBlock objects associated with this item.

virtual void	LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor)
	Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...

virtual void	VariablesFbReset ()
	Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero.

virtual void	VariablesFbLoadForces (double factor=1)
	Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor.

virtual void	VariablesQbLoadSpeed ()
	Initialize the 'qb' part of the ChVariables with the current value of speeds. More...

virtual void	VariablesFbIncrementMq ()
	Adds M*q (masses multiplied current 'qb') to Fb, ex. More...

virtual void	VariablesQbSetSpeed (double step=0)
	Fetches the item speed (ex. More...

virtual void	VariablesQbIncrementPosition (double step)
	Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More...

virtual void	ConstraintsBiLoad_Qc (double factor=1)
	Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints.

virtual void	ConstraintsFbLoadForces (double factor=1)
	Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints.

Public Member Functions inherited from chrono::ChObj
	ChObj (const ChObj &other)

int	GetIdentifier () const
	Get the unique integer identifier of this object. More...

void	SetTag (int tag)
	Set an object integer tag (default: -1). More...

int	GetTag () const
	Get the tag of this object.

void	SetName (const std::string &myname)
	Set the name of this object.

const std::string &	GetName () const
	Get the name of this object.

double	GetChTime () const
	Gets the simulation time of this object.

void	SetChTime (double m_time)
	Sets the simulation time of this object.

virtual std::string &	ArchiveContainerName ()

Additional Inherited Members
Protected Member Functions inherited from chrono::ChObj
int	GenerateUniqueIdentifier ()

Protected Attributes inherited from chrono::ChPhysicsItem
ChSystem *	system
	parent system

std::shared_ptr< ChVisualModelInstance >	vis_model_instance
	instantiated visualization model

std::vector< std::shared_ptr< ChCamera > >	cameras
	set of cameras

unsigned int	offset_x
	offset in vector of state (position part)

unsigned int	offset_w
	offset in vector of state (speed part)

unsigned int	offset_L
	offset in vector of lagrangian multipliers

Protected Attributes inherited from chrono::ChObj
double	ChTime
	object simulation time

std::string	m_name
	object name

int	m_identifier
	object unique identifier

int	m_tag
	user-supplied tag

Member Function Documentation

◆ GetShaftDirection1()

const ChVector3d& chrono::ChShaftsGearboxAngled::GetShaftDirection1 ( ) const

inline

Get the direction of the shaft 1 (input) respect to 3D body.

Return as a normalized vector expressed in the coordinates of the body.

◆ GetShaftDirection2()

const ChVector3d& chrono::ChShaftsGearboxAngled::GetShaftDirection2 ( ) const

inline

Get the direction of the shaft 2 (input) respect to 3D body.

Return as a normalized vector expressed in the coordinates of the body.

◆ GetTorqueReactionOnBody()

ChVector3d chrono::ChShaftsGearboxAngled::GetTorqueReactionOnBody ( ) const

inline

Get the reaction torque considered as applied to the body.

(the truss of the gearbox), expressed in local body coordinates.

◆ Initialize()

bool chrono::ChShaftsGearboxAngled::Initialize	(	std::shared_ptr< ChShaft >	shaft_1,
		std::shared_ptr< ChShaft >	shaft_2,
		std::shared_ptr< ChBodyFrame >	truss,
		ChVector3d &	dir_1,
		ChVector3d &	dir_2
	)

virtual

Initialize this gear coupling, given two shafts to join, and the 3D body that acts as a truss.

Shafts directions are considered in local body coordinates. Both shafts and the body must belong to the same ChSystem.

Parameters

shaft_1	first (input) shaft to join
shaft_2	second (output) shaft to join
truss	truss body (also carrier, if rotating as in planetary gearboxes)
dir_1	direction of the first shaft on the gearbox truss
dir_2	direction of the second shaft on the gearbox truss

◆ SetShaftDirection1()

void chrono::ChShaftsGearboxAngled::SetShaftDirection1 ( ChVector3d md )

inline

Set the direction of shaft 1 (input) respect to 3D body.

Set as a normalized vector expressed in the coordinates of the body. The shaft applies only torque, about this axis.

◆ SetShaftDirection2()

void chrono::ChShaftsGearboxAngled::SetShaftDirection2 ( ChVector3d md )

inline

Set the direction of shaft 2 (output) respect to 3D body.

Set as a normalized vector expressed in the coordinates of the body. The shaft applies only torque, about this axis.

◆ SetTransmissionRatio()

void chrono::ChShaftsGearboxAngled::SetTransmissionRatio ( double mt0 )

inline

Set the transmission ratio t, as in w2=t*w1, or t=w2/w1 , or t*w1 - w2 = 0.

For example, t=1 for equal bevel gears, etc.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/physics/ChShaftsGearboxAngled.h
/builds/uwsbel/chrono/src/chrono/physics/ChShaftsGearboxAngled.cpp

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ GetShaftDirection1()

◆ GetShaftDirection2()

◆ GetTorqueReactionOnBody()

◆ Initialize()

◆ SetShaftDirection1()

◆ SetShaftDirection2()

◆ SetTransmissionRatio()