chrono::ChLinkMotorLinearDriveline Class Reference

Description

Couples the relative translation of two bodies (along Z direction of the link frames) with the rotation of a 1D shaft.

This link adds three additional ChShaft objects:

  • two of them on Body 2, representing a rotational (Shaft2Rot) and a translational (Shfat2Lin) inertia.
  • one ChShaft object to Body 1, representing a translational inertia (Shaft1Lin). Each translational shaft is connected to the Z degree of freedom of its body (through a ChShaftBodyTranslation). The rotational shaft is connected to Body 2 (through a ChShaftBodyRotation) along a direction (default: Z axis) that can be later set through SetInnerShaft2RotDirection(). Any action applied to the shafts is then reflected back to the respective bodies along their given directions.
                 [************ ChLinkMotorLinearDriveline ********]
    [ Body2 ]----[----(ChShaftBodyRotation)-------[Shaft2Rot]----]---->
    [ Body2 ]----[----(ChShaftBodyTranslation)----[Shaft2Lin]----]---->
    [ Body1 ]----[----(ChShaftBodyTranslation)----[Shaft1Lin]----]----> 
    
    Typical usage is to model a linear actuator between two 3D bodies by taking into account also the actuator driveline (e.g. inertia, friction, ...).
                 [************ ChLinkMotorLinearDriveline ********]
    [ Body2 ]----[----(ChShaftBodyRotation)-------[Shaft2Rot]----]--->
    [ Body2 ]----[----(ChShaftBodyTranslation)----[Shaft2Lin]----]--->
    [ Body1 ]----[----(ChShaftBodyTranslation)----[Shaft1Lin]----]--->
    
                                       [***** ChShaftsPlanetary *****]
    >-[ChShaftsMotor]----[ChShaft] -----[----[shaft2]                 ]
    >-----------------------------------[----[shaft1]                 ]
    >-----------------------------------[----[shaft3]                 ]
    

#include <ChLinkMotorLinearDriveline.h>

Inheritance diagram for chrono::ChLinkMotorLinearDriveline:
Collaboration diagram for chrono::ChLinkMotorLinearDriveline:

Public Member Functions

 ChLinkMotorLinearDriveline (const ChLinkMotorLinearDriveline &other)
 
virtual ChLinkMotorLinearDrivelineClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual void SetSystem (ChSystem *m_system) override
 Set the pointer to the parent ChSystem(). More...
 
std::shared_ptr< ChShaftGetInnerShaft1Lin () const
 Access the inner 1D shaft connected to the translation of body 1 about dir of linear guide. More...
 
std::shared_ptr< ChShaftGetInnerShaft2Lin () const
 Access the inner 1D shaft connected to the translation of body 2 about dir of linear guide. More...
 
std::shared_ptr< ChShaftGetInnerShaft2Rot () const
 Access the inner 1D shaft connected to the rotation of body 2 about dir of linear guide. More...
 
void SetInnerShaft2RotDirection (ChVector3d md)
 Set the direction of the inner rotation axis for body 2, expressed in link coordinates Default is VECT_Z, same dir of guide, i.e. More...
 
ChVector3d GetInnerShaft2RotDirection () const
 Get the direction of the inner rotation axis for body 2, expressed in link coordinates Default is VECT_Z, same dir of guide, i.e. More...
 
double GetInnerForce1 () const
 Get the force between body 1 and inner shaft 1 Note: coincident with GetMotorForce() of this motor.
 
double GetInnerForce2 () const
 Get the force between body 2 and inner translational shaft 2.
 
double GetInnerTorque2 () const
 Get the torque between body 2 and inner rotational shaft 2 (ex. More...
 
virtual double GetMotorForce () const override
 Get the current actuator reaction torque [Nm].
 
virtual void Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, ChFrame<> mabsframe) override
 Initialize the generic mate, given the two bodies to be connected, and the absolute position of the mate (the two frames to connect on the bodies will be initially coincindent to that frame). More...
 
virtual void Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, bool pos_are_relative, ChFrame<> mframe1, ChFrame<> mframe2) override
 Specialized initialization for LinkMotorLinearDriveline, given the two bodies to be connected, the positions of the two frames to connect on the bodies (each expressed in body or abs. More...
 
virtual void Initialize (std::shared_ptr< ChBodyFrame > mbody1, std::shared_ptr< ChBodyFrame > mbody2, bool pos_are_relative, const ChVector3d &mpt1, const ChVector3d &mpt2, const ChVector3d &mnorm1, const ChVector3d &mnorm2) override
 Specialized initialization for LinkMotorLinearDriveline based on passing two vectors (point + dir) on the two bodies, which will represent the Z axes of the two frames (X and Y will be built from the Z vector via Gram Schmidt orthonormalization). More...
 
virtual void Setup () override
 Compute offsets of sub-objects, offsetting all the contained sub objects (the inner shafts)
 
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. More...
 
- Public Member Functions inherited from chrono::ChPhysicsItem
 ChPhysicsItem (const ChPhysicsItem &other)
 
ChSystemGetSystem () const
 Get the pointer to the parent ChSystem().
 
void AddVisualModel (std::shared_ptr< ChVisualModel > model)
 Add an (optional) visualization model. More...
 
std::shared_ptr< ChVisualModelGetVisualModel () 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< ChVisualShapeGetVisualShape (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< ChVisualShapeFEAGetVisualShapeFEA (unsigned int i) const
 Access the specified FEA visualization object in the visualization model (if any). 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 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 () const
 Get the axis-aligned bounding box (AABB) of this object. More...
 
virtual ChVector3d GetCenter () const
 Get a symbolic 'center' of the object. More...
 
void UpdateVisualModel ()
 Utility function to update only the associated visual assets (if any).
 
virtual void ForceToRest ()
 Set zero speed (and zero accelerations) in state, without changing the position. More...
 
virtual unsigned int GetNumCoordsVelLevel ()
 Get the number of coordinates at the velocity level. More...
 
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 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

 Type of guide constraint.
- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
 
- Protected Attributes inherited from chrono::ChPhysicsItem
ChSystemsystem
 parent system
 
std::shared_ptr< ChVisualModelInstancevis_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

◆ ArchiveIn()

void chrono::ChLinkMotorLinearDriveline::ArchiveIn ( ChArchiveIn archive_in)
overridevirtual

Method to allow deserialization of transient data from archives.

Method to allow de serialization of transient data from archives.

Reimplemented from chrono::ChLinkMotorLinear.

◆ GetInnerShaft1Lin()

std::shared_ptr<ChShaft> chrono::ChLinkMotorLinearDriveline::GetInnerShaft1Lin ( ) const
inline

Access the inner 1D shaft connected to the translation of body 1 about dir of linear guide.

The shaft can be connected to other shafts with ChShaftsMotor or similar items.

◆ GetInnerShaft2Lin()

std::shared_ptr<ChShaft> chrono::ChLinkMotorLinearDriveline::GetInnerShaft2Lin ( ) const
inline

Access the inner 1D shaft connected to the translation of body 2 about dir of linear guide.

The shaft can be connected to other shafts with ChShaftsMotor or similar items.

◆ GetInnerShaft2Rot()

std::shared_ptr<ChShaft> chrono::ChLinkMotorLinearDriveline::GetInnerShaft2Rot ( ) const
inline

Access the inner 1D shaft connected to the rotation of body 2 about dir of linear guide.

This is needed because one might need to design a driveline with rotational 1D components such as ChShaftsMotor, that require an anchoring to a rotational shaft. The shaft can be connected to other shafts with ChShaftsMotor or similar items.

◆ GetInnerShaft2RotDirection()

ChVector3d chrono::ChLinkMotorLinearDriveline::GetInnerShaft2RotDirection ( ) const
inline

Get the direction of the inner rotation axis for body 2, expressed in link coordinates Default is VECT_Z, same dir of guide, i.e.

useful when anchoring drives with screw transmission.

◆ GetInnerTorque2()

double chrono::ChLinkMotorLinearDriveline::GetInnerTorque2 ( ) const
inline

Get the torque between body 2 and inner rotational shaft 2 (ex.

might be caused by the inertia reaction of an internal rotation motor that is accelerating)

◆ Initialize() [1/3]

void chrono::ChLinkMotorLinearDriveline::Initialize ( std::shared_ptr< ChBodyFrame mbody1,
std::shared_ptr< ChBodyFrame mbody2,
bool  pos_are_relative,
ChFrame<>  mframe1,
ChFrame<>  mframe2 
)
overridevirtual

Specialized initialization for LinkMotorLinearDriveline, given the two bodies to be connected, the positions of the two frames to connect on the bodies (each expressed in body or abs.

coordinates).

Parameters
mbody1first body to link
mbody2second body to link
pos_are_relativetrue: following pos. are relative to bodies
mframe1slave frame 1 (rel. or abs.)
mframe2master frame 2 (rel. or abs.)

Reimplemented from chrono::ChLinkMateGeneric.

◆ Initialize() [2/3]

void chrono::ChLinkMotorLinearDriveline::Initialize ( std::shared_ptr< ChBodyFrame mbody1,
std::shared_ptr< ChBodyFrame mbody2,
bool  pos_are_relative,
const ChVector3d mpt1,
const ChVector3d mpt2,
const ChVector3d mnorm1,
const ChVector3d mnorm2 
)
overridevirtual

Specialized initialization for LinkMotorLinearDriveline based on passing two vectors (point + dir) on the two bodies, which will represent the Z axes of the two frames (X and Y will be built from the Z vector via Gram Schmidt orthonormalization).

Parameters
mbody1first body to link
mbody2second body to link
pos_are_relativetrue: following pos. are relative to bodies
mpt1origin of slave frame 1 (rel. or abs.)
mpt2origin of master frame 2 (rel. or abs.)
mnorm1X axis of slave plane 1 (rel. or abs.)
mnorm2X axis of master plane 2 (rel. or abs.)

Reimplemented from chrono::ChLinkMateGeneric.

◆ Initialize() [3/3]

void chrono::ChLinkMotorLinearDriveline::Initialize ( std::shared_ptr< ChBodyFrame mbody1,
std::shared_ptr< ChBodyFrame mbody2,
ChFrame<>  mabsframe 
)
overridevirtual

Initialize the generic mate, given the two bodies to be connected, and the absolute position of the mate (the two frames to connect on the bodies will be initially coincindent to that frame).

Parameters
mbody1first body to link
mbody2second body to link
mabsframemate frame, in abs. coordinate

Reimplemented from chrono::ChLinkMateGeneric.

◆ SetInnerShaft2RotDirection()

void chrono::ChLinkMotorLinearDriveline::SetInnerShaft2RotDirection ( ChVector3d  md)
inline

Set the direction of the inner rotation axis for body 2, expressed in link coordinates Default is VECT_Z, same dir of guide, i.e.

useful when anchoring drives with screw transmission.

◆ SetSystem()

virtual void chrono::ChLinkMotorLinearDriveline::SetSystem ( ChSystem m_system)
inlineoverridevirtual

Set the pointer to the parent ChSystem().

Also add to new collision system / remove from old collision system.

Reimplemented from chrono::ChPhysicsItem.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/physics/ChLinkMotorLinearDriveline.h
  • /builds/uwsbel/chrono/src/chrono/physics/ChLinkMotorLinearDriveline.cpp