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
Bool
True
\(\checkmark\)
Double
\(m\)
1.0
Reference -
MachineryComponent
[0]Double
\(c\)
100.0
Double
\(d\)
0.1
Double
\(e\)
1.0
Double
\(\mu\)
0.5
Double
\(k\)
10000.0
Double
\(v_{t}\)
1.0
Double
1.0
Double
\(d_{c}\)
10.0
Bool
False
Double
0.01
Int
Auto
Double
9810.0
Double
0.0
Str
Double
0.001
Str
Reference -
Marker
\(\checkmark\)
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
Bool
True
\(\checkmark\)
Double
\(A\)
0
Reference -
Part
\(\checkmark\)
Reference -
Connection
Enum
REVOLUTE
Double
\(T_{f}\)
0
Double
\(T_{r}\)
0
Double
10.0
Double
\(T_{d}\)
0
Int
Auto
Double
10000.0
Str
Double
\(m\)
0.0
Str
0
Enum
DoubleStep
Str
Double
\(R\)
\(\checkmark\)
Reference -
Marker
\(\checkmark\)
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):
Name
Type
Symbol
Required
Default
Modifiable
Bool
True
\(\checkmark\)
Double
\(A\)
40.0
Reference -
Part
\(\checkmark\)
Reference -
Connection
Enum
REVOLUTE
Double
\(C\)
7.5
Double
\(d_{c}\)
10.0
Double
\(D\)
10.0
Int
Auto
Str
Double
\(m\)
0.0
Str
Double
\(R\)
100.0
Reference -
Marker
\(\checkmark\)
Bool
True
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
Bool
True
\(\checkmark\)
Reference -
Part
\(\checkmark\)
Reference -
Connection
Double
10.0
Double
0.0
Double
100.0
Int
Auto
Str
Double
0.0
Str
Reference -
Marker
\(\checkmark\)
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