Coupler
Coupler
Class Coupler()
Coupler(parent='MODEL', name='Coupler_n', label='Coupler_n', active=True,
itype='2JOINT', j1=None, j2=None, j3=None, dir1='TRANS', dir2='TRANS', dir3='TRANS',
ratio=1, ratio2=0)A coupler defines the ratio of displacement of one joint to another joint. Couplers can connect three types of joint combinations: - Revolute to revolute - Revolute to translational - Translational to translational.
Keyword Arguments
| Argument | Data Type | Desription | Default |
|---|---|---|---|
| name | String | The variable name. | Coupler_n, for next available integer n. |
| label | String | The descriptive label. | Coupler_n, for next available integer n. |
| parent | Object | The parent. | MODEL |
| active | Boolean | Used to activate or deactivate this entity. | True |
| itype | Enum | The type. One of 2JOINT or 3JOINT. | 2JOINT |
| j1 | Joint | The first joint. | None |
| j2 | Joint | The second joint. | None |
| j3 | Joint | The third joint(only when itype is 3JOINT). | None |
| dir1 | Enum | The direction, if first joint is cylindrical. One of TRANS or ROT. | TRANS |
| dir2 | Enum | The direction, if second joint is cylindrical. One of TRANS or ROT. | TRANS |
| dir3 | Enum | The direction, if third joint is cylindrical. One of TRANS or ROT. | TRANS |
| ratio | Double | The displacement ratio between j1 and j2 for each joints respective direction of displacement. | 1 |
| ratio2 | Double | The displacement ratio between j1 and j3 for each joints respective direction of displacement. | 0 |
| user | Bool | Use user defined properties, if true. | False |
| usr_sub | Function | The expression passed to the user dll. When using solver expressions, Templex syntax (within ``) is used and all variables are enclosed in braces {} and the rest is treated as literal. | ‘USER()' |
| local_funcname | String | The function/subroutine name. | ‘MOTSUB' |
| use_local_dll | Bool | Uses a local function instead of default if True. | False |
| local_dll | File | The path of the local dll. Defaults to ‘'. * local_func_type (Enum) - The type of the user subroutine. one of DLL, PYTHON or MATLAB. | ‘DLL' |
Notes
1. The parent parameter can only be initialized by the constructor and should not be modified directly.
2. Only parent can be used as a positional argument in the constructor.
Methods
- getAssociatedGraphics()
-
Get all the graphics that are associated with this object.
Returns:
List of all graphic associated with this coupler.
Return type:
(list)
- setValue(name, value)
-
Sets value of an attribute.
Parameters:
name str Name of the attribute. value ** Value of the attribute to be set. Returns:
Returns True if the value was successfully set else False.
Return type:
Bool
Coupler Pair
Class CouplerPair()
CouplerPair(parent='MODEL', name='CouplerPair_n', label='CouplerPair_n', active=True, sym='NONE')Coupler pair containing left and right instances of singles.
Keyword Arguments:
| Argument | Data Type | Description | Default |
|---|---|---|---|
| name | String | The variable name. | CouplerPair_n, for next available integer n. |
| label | String | The descriptive label. | CouplerPair_n, for next available integer n. |
| parent | Object | The parent. | MODEL |
| active | Bool | Defines if entity is activated when True or deactivated when False. | False |
| sym | Enum | The symmetry of pair entity. Takes values 'LEFT' for left entity as leader, 'RIGHT' for right entity as leader or 'NONE' when it is not symmetric. | NONE |
Instances
| Instance | Type | Description |
|---|---|---|
| l | Coupler | The left coupler. |
| r | Coupler | The right coupler. |
Examples
========
Create and modify attributes of a Coupler.
>>> from hw import mview
>>> #Create a pinion center-point, body, graphic and joint
>>> p_1 = mview.Point(label = "Base point",x = 0,y = 0,z = 0)
>>> body1 = mview.Body(label = "pinion body",inertia_props_from_graphic = True)
>>> pinion = mview.Cylinder(label = "Gear graphic",
align_meth1 = "VECTOR",
align_vec1 = "V_Global_Y",
length = 10.0,
r1 = 20.0)
>>> pinion.setValues(body = body1,origin = p_1)
>>> j1 = mview.Joint(label = "Revolute1",
type = "RevJoint",
origin = p_1,
align_meth1 = "VECTOR",
align_vec1 = "V_Global_Y",
b1 = body1,
b2 = "B_Ground")
>>> #Create a gear center-point, body, graphic and joint
>>> p_2 = mview.Point(label = "Base point 2",x = 70,y = 0,z = 0)
>>> body2 = mview.Body(label = "Gear body",inertia_props_from_graphic = True)
>>> gear = mview.Cylinder(label = "Gear graphic",
align_meth1 = "VECTOR",
align_vec1 = "V_Global_Y",
length = 10.0,
r1 = 50.0)
>>> gear.setValues(body = body2,origin = p_2)
>>> j2 = mview.Joint(label = "Revolute2",
type = "RevJoint",
origin = p_2,
align_meth1 = "VECTOR",
align_vec1 = "V_Global_Y",
b1 = body2,
b2 = "B_Ground")
>>> #Create a Coupler to couple the two Revolute joints
>>> c_0 = mview.Coupler(label = "Gear Coupler",
itype = "2JOINT",
ratio = 2.0)
>>> #Set multiple values and references at once
>>> c_0.setValues(j1 = j1,j2 = j2)
>>> #Gear pair model is ready to simulate