Cables#

class Cable(**kwds)#
Creates a cable.

The cable receives input/output (Winch, Anchor) elements and a variable number of pulley elements, wrapping around them in an open-track configuration. If only pulleys are provided, the resulting cable track is closed.

The effects of the longitudinal tension coupling between the track components are represented by a number of bodies, joints, motions and forces. Pulley sliding contact and disengagement are considered.

Name

Type

Symbol

Required

Default

Modifiable

active

Bool

True

\(\checkmark\)

cable_mass

Double

\(m\)

1.0

components

Reference - MachineryComponent [0]

contact_damping

Double

\(c\)

100.0

contact_depth

Double

\(d\)

0.1

contact_exponent

Double

\(e\)

1.0

contact_mu

Double

\(\mu\)

0.5

contact_stiffness

Double

\(k\)

10000.0

contact_vt

Double

\(v_{t}\)

1.0

damping_ratio

Double

1.0

dc

Double

\(d_{c}\)

10.0

force_graphics

Bool

False

frc_gra_scale

Double

0.01

id

Int

Auto

ini_preload

Double

9810.0

ini_vel

Double

0.0

label

Str

liftoff_coeff

Double

0.001

name

Str

rm

Reference - Marker

\(\checkmark\)

stiffness

Double

\(K\)

100000.0

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

cable_mass#

The cable mass.

Type=Double, Default=1.0

components#

Type=Reference (MachineryComponent) [0]

contact_damping#

The contact damping.

Type=Double, Default=100.0

contact_depth#

The contact depth.

Type=Double, Default=0.1

contact_exponent#

Type=Double, Default=1.0

contact_mu#

The contact friction.

Type=Double, Default=0.5

contact_stiffness#

The contact stiffness.

Type=Double, Default=10000.0

contact_vt#

The contact transition velocity.

Type=Double, Default=1.0

damping_ratio#

Type=Double, Default=1.0

dc#

The diameter of the cable wrapped around the pulley.

Type=Double, Default=10.0

force_graphics#

Type=Bool, Default=False

frc_gra_scale#

Type=Double, Default=0.01

id#

The id of the object.

Type=Int

ini_preload#

The initial preload of the cable.

Type=Double, Default=9810.0

ini_vel#

The initial velocity.

Type=Double, Default=0.0

label#

The label of the composite element.

Type=Str

liftoff_coeff#

The lift-off coefficient of the cable.

Type=Double, Default=0.001

name#

Defines a nametag for the object.

Type=Str

rm#

The reference marker of the composite element.

Type=Reference (Marker), Required

stiffness#

The stiffness of the cable.

Type=Double, Default=100000.0

class Winch(**kwds)#
Creates a winch.

A winch element can be used to attach one end of a cable, wrapping or unwrapping it around itself, in a winding or unwinding motion accordingly:

Name

Type

Symbol

Required

Default

Modifiable

active

Bool

True

\(\checkmark\)

amplitude

Double

\(A\)

0

att_body

Reference - Part

\(\checkmark\)

connection

Reference - Connection

connection_type

Enum

REVOLUTE

date_fwd

Double

\(T_{f}\)

0

date_rev

Double

\(T_{r}\)

0

dc

Double

10.0

delay

Double

\(T_{d}\)

0

id

Int

Auto

ini_wlength

Double

10000.0

label

Str

mass

Double

\(m\)

0.0

motion_function

Str

0

motion_type

Enum

DoubleStep

name

Str

radius

Double

\(R\)

\(\checkmark\)

rm

Reference - Marker

\(\checkmark\)

width

Double

\(W\)

20.0

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

amplitude#

The amplitude of the winch motion defined in number of revolutions.Used only when motion_type is set to ‘DoubleStep’.

Type=Double, Default=0

att_body#

The part to which the winch is attached.

Type=Reference (Part), Required

connection#

Connection related.

Type=Reference (Connection)

connection_type#

The type of joint used to constrain the winch to the attachment body.

Type=Enum, Default=REVOLUTE

Permitted values are:

  • CYLINDRICAL

  • REVOLUTE

date_fwd#

The start time for the winding step function of the winch. Used only when motion_type is set to ‘DoubleStep’.

Type=Double, Default=0

date_rev#

The start time for the unwinding step function of the winch. Used only when motion_type is set to ‘DoubleStep’.

Type=Double, Default=0

dc#

The diameter of the cable wrapped around the winch.

Type=Double, Default=10.0

delay#

Type=Double, Default=0

id#

The id of the object.

Type=Int

ini_wlength#

The initial wrapped length of the winch.

Type=Double, Default=10000.0

label#

A string describing the object.

Type=Str

mass#

The mass.

Type=Double, Default=0.0

motion_function#

The user defined expression for the winch motion. Used only when motion_type is set to ‘Used Defined’.

Type=Str, Default=0

motion_type#

The type of user input for the definition of the winch motion.

Type=Enum, Default=DoubleStep

Permitted values are:

  • DoubleStep

  • UserDefined

name#

Defines a nametag for the object.

Type=Str

radius#

The winch radius.

Type=Double, Required, Default=50.0

rm#

Reference marker, used for positioning.

Type=Reference (Marker), Required

width#

The winch axial width.

Type=Double, Default=20.0

class Pulley(**kwds)#
Creates a pulley.

A pulley element, that a cable wraps around, can be used to change the direction of the load applied to the cable.

The Pulley is defined by the following dimensions (see Comment 2):

Geometry of a pulley.

Pulley profile geometry.#

Name

Type

Symbol

Required

Default

Modifiable

active

Bool

True

\(\checkmark\)

angle

Double

\(A\)

40.0

att_body

Reference - Part

\(\checkmark\)

connection

Reference - Connection

connection_type

Enum

REVOLUTE

cradius

Double

\(C\)

7.5

dc

Double

\(d_{c}\)

10.0

depth

Double

\(D\)

10.0

id

Int

Auto

label

Str

mass

Double

\(m\)

0.0

name

Str

radius

Double

\(R\)

100.0

rm

Reference - Marker

\(\checkmark\)

sliding_locking

Bool

True

width

Double

\(W\)

40.0

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

angle#

The profile angle of the pulley.

Type=Double, Default=40.0

att_body#

The part to which the pulley is attached.

Type=Reference (Part), Required

connection#

Connection related.

Type=Reference (Connection)

connection_type#

The type of joint used to constrain the pulley to the attachment body.

Type=Enum, Default=REVOLUTE

Permitted values are:

  • CYLINDRICAL

  • REVOLUTE

cradius#

The profile radius of the pulley.

Type=Double, Default=7.5

dc#

The diameter of the cable wrapped around the pulley.

Type=Double, Default=10.0

depth#

The profile depth of the pulley.

Type=Double, Default=10.0

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

mass#

The mass.

Type=Double, Default=0.0

name#

Defines a nametag for the object.

Type=Str

radius#

The pulley radius.

Type=Double, Default=100.0

rm#

Reference marker, used for positioning.

Type=Reference (Marker), Required

sliding_locking#

Sliding locking activation flag.

Type=Bool, Default=True

width#

The profile width of the pulley.

Type=Double, Default=40.0

class Anchor(**kwds)#
Creates an Anchor.

An anchor element can be used to attach one end of a cable, and represents a fixed connection between the anchor and the attaching body:

Name

Type

Required

Default

Modifiable

Designable

active

Bool

True

\(\checkmark\)

att_body

Reference - Part

\(\checkmark\)

connection

Reference - Connection

dc

Double

10.0

density

Double

0.0

gra_size

Double

100.0

id

Int

Auto

label

Str

mass

Double

0.0

name

Str

rm

Reference - Marker

\(\checkmark\)

wradius

Double

0.0

active#

Defines the state of the object.

Type=Bool, Default=True, Modifiable

att_body#

The part to which the anchor is attached.

Type=Reference (Part), Required

connection#

Connection related.

Type=Reference (Connection)

dc#

The diameter of the cable wrapped around the pulley.

Type=Double, Default=10.0

density#

The density.

Type=Double, Default=0.0

gra_size#

The graphic radius of the anchor.

Type=Double, Default=100.0

id#

The id of the object.

Type=Int

label#

A string describing the object.

Type=Str

mass#

The mass.

Type=Double, Default=0.0

name#

Defines a nametag for the object.

Type=Str

rm#

Reference marker, used for positioning.

Type=Reference (Marker), Required

wradius#

The wrapped radius of the anchor.

Type=Double, Default=0.0