Translational Spring, Damper, Actuator - MapleSim Help

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Translational Spring, Damper, Actuator

Applies stiffness, damping, and actuation between two frames

 

Description

Connections

Parameters

See Also

Description

A spring, damper, and force actuator, acting in parallel between two end frames, is shown in the diagram below.  These three elements are combined into a single translational spring-damper-actuator (TSDA).  

Assuming that the translation vector, r, is directed from frame_a, [x1,y1,z1],to frame_b, [x2,y2,z2],  the resultant forces are

f1=frrex1ex1+rey1ey1+rez1ez1

f2=frrex2ex2+rey2ey2+rez2ez2

 

where f1 and f2 are the reaction forces applied to frame_a and frame_b, respectively and

 

f={fact+D ⅆⅆts +KsL    s00s=0

 

where s=r is the instantaneous length of the TSDA, L is the undeformed spring length, D is the viscous damping coefficient, and fact is the prescribed force in the actuator.

Also, ex1,ey1,ez1 are the unit vectors along the frame_a coordinate frame and ex2,ey2,ez2 are the unit vectors along the frame_b coordinate frame.

Connections

Name

Description

framea

Force driver inboard frame

frameb

Force driver outboard frame

TSDAInput

Real signal input specifying the magnitude of the actuation force

flangea

Inertial reference frame for 1-D translational components

flangeb

Displacement between framea and frameb. Connects to 1-D translational components

Parameters

Symbol

Default

Units

Description

Modelica ID

Kspring

0

Nm

Spring constant

Kspring

l0

0

m

Unstretched spring length

L0

Kⅆampⅇr

0

Nsm

Damping constant

Kdamper

Use signal force port

true

Controls whether the input signal force port is displayed.

useForcePort

See Also

Forces and Moments

Multibody Overview