10.13.1. Force Definition

All forces that are include applied forces and joint reaction forces written with respect to user defined reference frame. If a selected body is base body of joint or forces, torque arm is considered to acting torque.

../_images/image1926.png

Figure 10.118 Force Definition

Action Body

The magnitude of force is acting on the action body at the action marker position with respect to reference marker.

\(\mathbf{F}={{({{\mathbf{A}}_{r}}{{\mathbf{C}}_{r}})}^{T}}{{\mathbf{f}}_{a}}\)
\(\mathbf{T}={{({{\mathbf{A}}_{r}}{{\mathbf{C}}_{r}})}^{T}}{{\boldsymbol{\tau }}_{a}}\)

Base Body

The magnitude of force is acting on the action body at the action marker position with respect to reference marker. Reaction torque considers torque arm effect.

\(\mathbf{F}=-{{({{\mathbf{A}}_{r}}{{\mathbf{C}}_{r}})}^{T}}{{\mathbf{f}}_{a}}\)
\(\mathbf{T}=-{{({{\mathbf{A}}_{r}}{{\mathbf{C}}_{r}})}^{T}}{{\boldsymbol{\tau }}_{a}}-{\tilde{\mathbf{d}}}_{ji}{{\mathbf{f}}_{a}}\)

Different Types

  • PTCV and CVCV

    These joints interact with each other at the constrained position. So PTCV and CVCV constraint does not generate torque.

    ../_images/image1934.png

    Figure 10.119 PTCV and CVCV