Kinematic Loops
loops
- class pymbs.input.mbs_system.AddLoop(world)
Class that provides functions to create loops
- CrankSlider(CS1, CS2, name=None)
Close a loop which we call a CrankSlider. It is a planar mechanism consisting of a series of three revolute and one translational joints. Its best example is the piston in an engine.
- Parameters:
CS1 (Coordinate System, Body or MbsSystem.) – Reference to parent coordinate system / parent frame.
CS2 (Coordinate System, Body or MbsSystem.) – Reference to child coordinate system / child frame.
name (string) – A name may be assigned to each loop. If no name is given, then a name like loop_1 is generated automatically. The name is used for code generation only, i.e. the symbols connected with this force will contain the name.
- ExpJoint(j, exp, name=None)
The ExpJoint allows the user to provide an expression for the joint coordinate. Currently, only kinematic calculations is supported.
- Parameters:
j (Joint-Object.) – joint.
exp (Expression.) – Expression for joint coordinate
name (string) – A name may be assigned to each loop. If no name is given, then a name like loop_1 is generated automatically. The name is used for code generation only, i.e. the symbols connected with this force will contain the name.
- FourBar(CS1, CS2, posture=1, name=None)
Handles a classic planar four bar linkage mechanism comprising four revolute joints. The posture parameter specifies which solution shall be used (crossing beams or not).
- Parameters:
CS1 (Coordinate System, Body or MbsSystem.) – Reference to parent coordinate system / parent frame.
CS2 (Coordinate System, Body or MbsSystem.) – Reference to child coordinate system / child frame.
posture (int - either 1 or -1) – Specifying the solution which shall be used - most time it means, if beams are crossed
name (string) – A name may be assigned to each loop. If no name is given, then a name like loop_1 is generated automatically. The name is used for code generation only, i.e. the symbols connected with this force will contain the name.
- FourBarTrans(CS1, CS2, posture=1, name=None)
The FourBarTrans is an extension to the FourBarLinkage. Whereas the classical four bar linkage consists of only four revolute joints, the FourBarTrans is extended by a translational joint. This mechanism is often found in wheel loaders.
- Parameters:
CS1 (Coordinate System, Body or MbsSystem.) – Reference to parent coordinate system / parent frame.
CS2 (Coordinate System, Body or MbsSystem.) – Reference to child coordinate system / child frame.
name (string) – A name may be assigned to each loop. If no name is given, then a name like loop_1 is generated automatically. The name is used for code generation only, i.e. the symbols connected with this force will contain the name.
- Hexapod(CS1, CS2, name=None)
Close a loop which we call a ThreeBarTrans. It is a planar mechanism consisting of a series of three revolute and one translational joints. It often occurs in conjunction with hydraulic cylinders.
- Parameters:
CS1 (Coordinate System, Body or MbsSystem.) – Reference to parent coordinate system / parent frame.
CS2 (Coordinate System, Body or MbsSystem.) – Reference to child coordinate system / child frame.
name (string) – A name may be assigned to each loop. If no name is given, then a name like loop_1 is generated automatically. The name is used for code generation only, i.e. the symbols connected with this force will contain the name.
- Hexapod_m_AV(CS1, CS2, name=None)
Close a loop which we call a ThreeBarTrans. It is a planar mechanism consisting of a series of three revolute and one translational joints. It often occurs in conjunction with hydraulic cylinders.
- Parameters:
CS1 (Coordinate System, Body or MbsSystem.) – Reference to parent coordinate system / parent frame.
CS2 (Coordinate System, Body or MbsSystem.) – Reference to child coordinate system / child frame.
name (string) – A name may be assigned to each loop. If no name is given, then a name like loop_1 is generated automatically. The name is used for code generation only, i.e. the symbols connected with this force will contain the name.
- Steering(CS1, CS2, setUpH=1, setUpS=1, name=None)
Close a loop which we call Steering. More detailed explanation follows.
- Parameters:
CS1 (Coordinate System, Body or MbsSystem.) – Reference to parent coordinate system / parent frame.
CS2 (Coordinate System, Body or MbsSystem.) – Reference to child coordinate system / child frame.
setUp – Specifying the solution which shall be used - most time it means, if beams are crossed
name (string) – A name may be assigned to each loop. If no name is given, then a name like loop_1 is generated automatically. The name is used for code generation only, i.e. the symbols connected with this force will contain the name.
- ThreeBarTrans(CS1, CS2, name=None)
Close a loop which we call a ThreeBarTrans. It is a planar mechanism consisting of a series of three revolute and one translational joints. It often occurs in conjunction with hydraulic cylinders.
- Parameters:
CS1 (Coordinate System, Body or MbsSystem.) – Reference to parent coordinate system / parent frame.
CS2 (Coordinate System, Body or MbsSystem.) – Reference to child coordinate system / child frame.
name (string) – A name may be assigned to each loop. If no name is given, then a name like loop_1 is generated automatically. The name is used for code generation only, i.e. the symbols connected with this force will contain the name.
- Transmission(j1, j2, ratio=1, name=None)
The transmission loop introduces a relation between two joints, such that their joint coordinates q1 and q2 are related by the following equation: j1 = ratio * v2; This can either be used to synchronise joints or to create a fixed joint by choosing ratio =0.
- Parameters:
j1 (Joint-Object.) – First joint.
j2 (Joint-Object.) – Second Joint.
ratio (int/float.) – Ratio between two joints.
name (string) – A name may be assigned to each loop. If no name is given, then a name like loop_1 is generated automatically. The name is used for code generation only, i.e. the symbols connected with this force will contain the name.