Description

M113 sprocket subsystem, suitable for interaction with double-pin track shoes (base class).

#include <M113_SprocketDoublePin.h>

Inheritance diagram for chrono::vehicle::m113::M113_SprocketDoublePin:
Collaboration diagram for chrono::vehicle::m113::M113_SprocketDoublePin:

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 GetArcRadius () const override
 Return the radius of the (concave) tooth circular arc.
 
virtual double GetArcCenterHeight () const override
 Return height of arc center.
 
virtual double GetArcCenterOffset () const override
 Return offset of arc center.
 
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::ChSprocketDoublePin
 ChSprocketDoublePin (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
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.
 
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< ChChassis > 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, ChColor color=ChColor(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
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.
 
double GetMass () const
 Get the subsystem mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () const
 Get the current subsystem position relative to the global frame. More...
 
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_SprocketDoublePin (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
 ChSprocket (const std::string &name)
 Construct a sprocket subsystem with given name.
 
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
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
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
void AddMass (double &mass)
 Add this subsystem's mass. More...
 
void AddInertiaProperties (ChVector<> &com, ChMatrix33<> &inertia)
 Add this subsystem's inertia properties. More...
 
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Static Protected Attributes

static const int m_num_teeth = 10
 
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_RT = 0.2715
 
static const double m_gear_R = 0.0223
 
static const double m_gear_C = 0.2371
 
static const double m_gear_W = 0.0464
 
static const double m_gear_RA = 0.242
 
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< ChLinkRSDA >> 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.
 
static void RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
 Erase all visual shapes from the visual model associated with the specified physics item (if any).
 
static void RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
 Erase the given shape from the visual model associated with the specified physics item (if any).
 
- Protected Attributes inherited from chrono::vehicle::ChSprocket
ChVector m_rel_loc
 sprocket subsystem location relative to chassis
 
std::shared_ptr< ChBodym_gear
 sprocket gear body
 
std::shared_ptr< ChShaftm_axle
 gear shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle
 gear-shaft connector
 
std::shared_ptr< ChLinkLockRevolutem_revolute
 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
 
std::shared_ptr< ChPartm_parent
 parent subsystem (empty if parent is vehicle)
 
double m_mass
 subsystem mass
 
ChMatrix33 m_inertia
 inertia tensor (relative to subsystem COM)
 
ChFrame m_com
 COM frame (relative to subsystem reference frame)
 
ChFrame m_xform
 subsystem frame expressed in the global frame
 

Member Function Documentation

◆ GetAssemblyRadius()

virtual double chrono::vehicle::m113::M113_SprocketDoublePin::GetAssemblyRadius ( ) const
inlineoverridevirtual

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_SprocketDoublePin.h
  • /builds/uwsbel/chrono/src/chrono_models/vehicle/m113/M113_SprocketDoublePin.cpp