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:

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Collaboration diagram for chrono::ChLinkMotorLinearDriveline:

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Public Member Functions
	ChLinkMotorLinearDriveline (const ChLinkMotorLinearDriveline &other)

virtual ChLinkMotorLinearDriveline *	Clone () 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< ChShaft >	GetInnerShaft1Lin () const
	Access the inner 1D shaft connected to the translation of body 1 about dir of linear guide. More...

std::shared_ptr< ChShaft >	GetInnerShaft2Lin () const
	Access the inner 1D shaft connected to the translation of body 2 about dir of linear guide. More...

std::shared_ptr< ChShaft >	GetInnerShaft2Rot () 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::ChLinkMotorLinear
	ChLinkMotorLinear (const ChLinkMotorLinear &other)

void	SetGuideConstraint (const GuideConstraint mconstraint)
	"Virtual" copy constructor (covariant return type). More...

void	SetGuideConstraint (bool mc_x, bool mc_y, bool mc_rx, bool mc_ry, bool mc_rz)
	Sets which movements (of frame 1 respect to frame 2) are constrained. More...

virtual double	GetMotorPos () const
	Get the current actuator displacement.

virtual double	GetMotorPosDt () const
	Get the current actuator velocity.

virtual double	GetMotorPosDt2 () const
	Get the current actuator acceleration.

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

void	SetMotorFunction (const std::shared_ptr< ChFunction > function)
	Set the actuation function of time F(t). More...

std::shared_ptr< ChFunction >	GetMotorFunction () const
	Get the actuation function F(t).

Public Member Functions inherited from chrono::ChLinkMateGeneric
	ChLinkMateGeneric (bool mc_x=true, bool mc_y=true, bool mc_z=true, bool mc_rx=true, bool mc_ry=true, bool mc_rz=true)

	ChLinkMateGeneric (const ChLinkMateGeneric &other)

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

virtual ChFramed	GetFrame1Rel () const override
	Get the link frame 1, relative to body 1.

virtual ChFramed	GetFrame2Rel () const override
	Get the link frame 2, relative to body 2.

bool	IsConstrainedX () const

bool	IsConstrainedY () const

bool	IsConstrainedZ () const

bool	IsConstrainedRx () const

bool	IsConstrainedRy () const

bool	IsConstrainedRz () const

void	SetConstrainedCoords (bool mc_x, bool mc_y, bool mc_z, bool mc_rx, bool mc_ry, bool mc_rz)
	Sets which movements (of frame 1 respect to frame 2) are constrained.

virtual void	SetDisabled (bool mdis) override
	Enable/disable all the constraint of the link as desired.

virtual void	SetBroken (bool mon) override
	Set this link as 'broken'.

void	SetUseTangentStiffness (bool useKc)
	Enable/disable calculation of the tangent stiffness matrix (Kc) of this constraint (default: false).

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

ChLinkMask &	GetLinkMask ()
	Return link mask.

virtual ChVectorDynamic	GetConstraintViolation () const override
	Link violation (residuals of the link constraint equations).

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

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

virtual unsigned int	GetNumAffectedCoords () override
	Get the number of scalar variables affected by constraints in this link.

ChBodyFrame *	GetBody1 () const
	Get the constrained body 1.

ChBodyFrame *	GetBody2 () const
	Get the constrained body 2.

virtual ChFramed	GetFrame1Abs () const override
	Get the link frame 1, on body 1, expressed in the absolute frame.

virtual ChFramed	GetFrame2Abs () const override
	Get the link frame 2, on body 2, expressed in the absolute frame.

virtual ChWrenchd	GetReaction1 () const override
	Get the reaction force and torque on the 1st body, expressed in the link frame 1.

virtual ChWrenchd	GetReaction2 () const override
	Get the reaction force and torque on the 2nd body object, expressed in the link frame 2.

virtual void	UpdateTime (double mytime)
	Given new time, current body state, update time-dependent quantities in link state, for example motion laws, moving markers, etc. More...

virtual void	Update (bool update_assets=true) override
	As above, but with current time.

virtual void	UpdatedExternalTime (double prevtime, double time)
	Called from a external package (i.e. a plugin, a CAD app.) to report that time has changed.

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

bool	IsValid ()
	Tells if the link data is currently valid. More...

void	SetValid (bool mon)
	Set the status of link validity.

bool	IsDisabled ()
	Tells if all constraints of this link are currently turned on or off by the user.

bool	IsBroken ()
	Tells if the link is broken, for excess of pulling/pushing.

virtual bool	IsActive () const override
	Return true if the link is currently active and thereofre included into the system solver. More...

virtual bool	IsRequiringWaking ()
	Tells if this link requires that the connected ChBody objects must be waken if they are sleeping. More...

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

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

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 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
Public Types inherited from chrono::ChLinkMotorLinear
enum	GuideConstraint { FREE, PRISMATIC, SPHERICAL }
	Type of guide constraint.

Public Types inherited from chrono::ChLinkMateGeneric
using	ChConstraintVectorX = Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor, 6, 1 >

Protected Member Functions inherited from chrono::ChLinkMateGeneric
void	SetupLinkMask ()

void	ChangedLinkMask ()

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

virtual void	LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor) override
	Add the current stiffness K matrix in encapsulated ChKRMBlock item(s), if any. More...

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

Protected Attributes inherited from chrono::ChLinkMotorLinear
double	mpos

double	mpos_dt

double	mpos_dtdt

int	m_actuated_idx
	row index of the actuated constraint (Z axis)

Protected Attributes inherited from chrono::ChLinkMotor
std::shared_ptr< ChFunction >	m_func

Protected Attributes inherited from chrono::ChLinkMateGeneric
ChFrame	frame1

ChFrame	frame2

bool	c_x

bool	c_y

bool	c_z

bool	c_rx

bool	c_ry

bool	c_rz

int	m_num_constr
	number of constraints

int	m_num_constr_bil
	number of bilateral constraints

int	m_num_constr_uni
	number of unilateral constraints

ChLinkMask	mask

ChConstraintVectorX	C
	residuals

ChMatrix33	P
	projection matrix from Lagrange multiplier to reaction torque

ChVector3d	gamma_f
	translational Lagrange multipliers

ChVector3d	gamma_m
	rotational Lagrange multipliers

std::unique_ptr< ChKRMBlock >	Kmatr = nullptr
	the tangent stiffness matrix of constraint

Protected Attributes inherited from chrono::ChLink
ChBodyFrame *	m_body1
	first connected body

ChBodyFrame *	m_body2
	second connected body

ChVector3d	react_force
	xyz reactions, expressed in local coordinate system of link;

ChVector3d	react_torque
	torque reactions, expressed in local coordinate system of link;

Protected Attributes inherited from chrono::ChLinkBase
bool	disabled
	all constraints of link disabled because of user needs

bool	valid
	link data is valid

bool	broken
	link is broken because of excessive pulling/pushing.

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

◆ 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

mbody1	first body to link
mbody2	second body to link
pos_are_relative	true: following pos. are relative to bodies
mframe1	slave frame 1 (rel. or abs.)
mframe2	master 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

mbody1	first body to link
mbody2	second body to link
pos_are_relative	true: following pos. are relative to bodies
mpt1	origin of slave frame 1 (rel. or abs.)
mpt2	origin of master frame 2 (rel. or abs.)
mnorm1	X axis of slave plane 1 (rel. or abs.)
mnorm2	X 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

mbody1	first body to link
mbody2	second body to link
mabsframe	mate 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

Description

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ ArchiveIn()

◆ GetInnerShaft1Lin()

◆ GetInnerShaft2Lin()

◆ GetInnerShaft2Rot()

◆ GetInnerShaft2RotDirection()

◆ GetInnerTorque2()

◆ Initialize() [1/3]

◆ Initialize() [2/3]

◆ Initialize() [3/3]

◆ SetInnerShaft2RotDirection()

◆ SetSystem()