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Learning Modelica -- Please Help

#671  Permalink Top

Learning Modelica -- Please Help

Nov-17-10 02:06:01

Hello,
   I am just starting to learn Modelica.  Currently, I'm trying to attach a force gauge to a load at the end of the robot arm example, RobotR3.  I  have created the force gauge, but have having trouble connecting it to the load.  The error I get says I am trying to connect a frame to a flange, can anyone help me understand how to convert between the two.  Thanks.

#824  Permalink Top

Re: Learning Modelica -- Please Help

Jan-29-11 00:27:42

Hi,

Flange is interface for one dimensional components and Frame is for 3 dimensional. In flange you have
    SI.Position s
    flow SI.Force f
and in frame you have
     SI.Position r_0[3]
      Frames.Orientation R
      flow SI.Force f[3]
      flow SI.Torque t[3]
I guess that you can by projecting the 3D frame into a plane will result in the corresponding 1D quatities. In this case s and f, but you also need to think about the position, orientation and torque.
Best Regards
Mohsen

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