298 lines
13 KiB
Plaintext
298 lines
13 KiB
Plaintext
-----------------------------------------------------------------------------
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# [Data Block]
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begin: data;
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problem: initial value;
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end: data;
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#-----------------------------------------------------------------------------
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# [Problem Block]
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begin: initial value;
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initial time: 0.0;
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final time: 8.0;
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time step: 0.01;
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max iterations: 100;
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tolerance: 1e-06;
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derivatives tolerance: 0.0001;
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derivatives max iterations: 100;
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derivatives coefficient: auto;
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end: initial value;
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#-----------------------------------------------------------------------------
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# [Control Data Block]
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begin: control data;
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max iterations: 1000;
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default orientation: euler321;
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omega rotates: no;
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print: none;
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initial stiffness: 1.0, 1.0;
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structural nodes: 4;
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rigid bodies: 3;
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joints: 6;
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end: control data;
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#-----------------------------------------------------------------------------
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# [Design Variables]
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#Generic bodies
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#body: 2
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set: integer body_2 = 2; #body label
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set: real mass_2 = 3.805252376198168; #mass [kg]
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set: real volume_2 = 0.0004816775159744516; #volume [m^3]
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#body: 3
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set: integer body_3 = 3; #body label
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set: real mass_3 = 15.238784954845523; #mass [kg]
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set: real volume_3 = 0.0019289601208665218; #volume [m^3]
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#body: 4
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set: integer body_4 = 4; #body label
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set: real mass_4 = 2.865603331977783; #mass [kg]
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set: real volume_4 = 0.0003627345989845295; #volume [m^3]
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#Nodes
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#node: 1
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set: integer structural_node_1 = 1; #node label
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#node: 2
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set: integer structural_node_2 = 2; #node label
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#node: 3
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set: integer structural_node_3 = 3; #node label
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#node: 4
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set: integer structural_node_4 = 4; #node label
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#Joints
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#joint: 1
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set: integer joint_1 = 1; #joint label
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#joint: 2
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set: integer joint_2 = 2; #joint label
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#joint: 3
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set: integer joint_3 = 3; #joint label
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#joint: 4
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set: integer joint_4 = 4; #joint label
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#joint: 5
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set: integer joint_5 = 5; #joint label
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#joint: 6
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set: integer joint_6 = 6; #joint label
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#Nodes: initial conditions
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#node: 1
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set: real Px_1 = -0.06210573361337854; #X component of the absolute position [m]
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set: real Py_1 = 0.048526435375479564; #Y component of the absolute position [m]
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set: real Pz_1 = -4.033966837940965e-17; #Z component of the absolute position [m]
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set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#node: 2
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set: real Px_2 = 0.011666006676941875; #X component of the absolute position [m]
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set: real Py_2 = 0.15999999999999778; #Y component of the absolute position [m]
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set: real Pz_2 = -1.2084363289349542e-19; #Z component of the absolute position [m]
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set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#node: 3
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set: real Px_3 = 0.2111281366952498; #X component of the absolute position [m]
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set: real Py_3 = 0.16; #Y component of the absolute position [m]
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set: real Pz_3 = -2.0217697810416158e-18; #Z component of the absolute position [m]
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set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#node: 4
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set: real Px_4 = -0.1812239275015207; #X component of the absolute position [m]
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set: real Py_4 = 0.16000000169909329; #Y component of the absolute position [m]
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set: real Pz_4 = -4.340477856936436e-12; #Z component of the absolute position [m]
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set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
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set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
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set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
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set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
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set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
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set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
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#-----------------------------------------------------------------------------
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# [Intermediate Variables]
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#Moments of inertia and relative center of mass
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#body 2:
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set: real Ixx_2 = 0.031674420620509; #moment of inertia [kg*m^2]
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set: real Iyy_2 = 0.029604112147595; #moment of inertia [kg*m^2]
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set: real Izz_2 = 0.002867529429125; #moment of inertia [kg*m^2]
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set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
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set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
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set: real Rz_2 = 2.0843632893495426e-20; #Z component of the relative center of mass [m]
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#body 3:
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set: real Ixx_3 = 0.09813066341583701; #moment of inertia [kg*m^2]
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set: real Iyy_3 = 0.095433846761275; #moment of inertia [kg*m^2]
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set: real Izz_3 = 0.077043262824289; #moment of inertia [kg*m^2]
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set: real Rx_3 = 0.0; #X component of the relative center of mass [m]
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set: real Ry_3 = 0.0; #Y component of the relative center of mass [m]
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set: real Rz_3 = 2.1769781041615487e-20; #Z component of the relative center of mass [m]
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#body 4:
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set: real Ixx_4 = 0.010133521085753; #moment of inertia [kg*m^2]
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set: real Iyy_4 = 0.006853402672398001; #moment of inertia [kg*m^2]
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set: real Izz_4 = 0.00669113151275; #moment of inertia [kg*m^2]
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set: real Rx_4 = 0.0; #X component of the relative center of mass [m]
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set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
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set: real Rz_4 = -4.306356366563123e-20; #Z component of the relative center of mass [m]
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#-----------------------------------------------------------------------------
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# [Nodes Block]
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begin: nodes;
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structural: structural_node_1,
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static,
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Px_1, Py_1, Pz_1, #<absolute_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
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Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
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Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
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structural: structural_node_2,
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dynamic,
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Px_2, Py_2, Pz_2, #<absolute_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
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Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
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Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
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structural: structural_node_3,
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dynamic,
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Px_3, Py_3, Pz_3, #<absolute_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
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Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
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Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
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structural: structural_node_4,
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dynamic,
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Px_4, Py_4, Pz_4, #<absolute_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
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Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
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Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
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end: nodes;
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#-----------------------------------------------------------------------------
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# [Elements Block]
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begin: elements;
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#-----------------------------------------------------------------------------
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# [Bodies]
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body: body_2,
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structural_node_2, #<node_label>
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mass_2, #<mass> [kg]
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Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
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diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
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orientation, 3, 1.0, 0.0, 0.0, 2, 0.0, 0.9999999999999999, 9.62964972193618e-35;
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body: body_3,
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structural_node_3, #<node_label>
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mass_3, #<mass> [kg]
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Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
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diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
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orientation, 3, 0.0, 0.0, 1.0, 2, 1.0, 0.0, 0.0;
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body: body_4,
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structural_node_4, #<node_label>
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mass_4, #<mass> [kg]
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Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
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diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
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orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0;
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#-----------------------------------------------------------------------------
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# [Joints]
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joint: joint_1,
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clamp,
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structural_node_1, #<node_label>
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-0.06210573361337854, 0.048526435375479564, -4.033966837940965e-17, #<absolute_pin_position> [m]
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3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix>
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joint: joint_2,
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axial rotation,
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structural_node_1, #<node_1_label>
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0.2521057336133785, 0.11147356462452043, 0.13500000000000004, #<relative_offset_1> [m]
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orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, #<relative_orientation_matrix_1>
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structural_node_3, #<node_2_label>
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-0.021128136695249794, 0.0, 0.135, #<relative_offset_2> [m]
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orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, #<relative_orientation_matrix_2>
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string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
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joint: joint_3,
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revolute hinge,
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structural_node_2, #<node_1_label>
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0.08833399332305812, 2.2168933355715126e-15, 0.065, #<relative_position_1> [m]
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orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0, #<relative_pin_orientation_matrix_1>
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structural_node_3, #<node_2_label>
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-0.11112813669524979, 0.0, 0.065, #<relative_position_2> [m]
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orientation, 3, 0.0, 0.0, 1.0, 2, -1.0, 2.220446049250313e-16, 0.0; #<relative_pin_orientation_matrix_2>
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joint: joint_4,
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prismatic,
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structural_node_1, #<node_1_label>
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orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
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structural_node_4, #<node_2_label>
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orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
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joint: joint_5,
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in line,
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structural_node_1, #<node_1_label>
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0.0, 0.11147355803101042, 2.4118673970779456e-17, #<relative_line_position> [m]
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3, -1.0, 1.1102230246251565e-16, -2.220446049250313e-16, 2, -1.1102230246251565e-16, 0.0, 1.0, #<relative_orientation>
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structural_node_4, #<node_2_label>
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offset, 0.0, -8.292603282173139e-09, 4.340448411165876e-12; #<relative_offset> [m]
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joint: joint_6,
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in line,
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structural_node_2, #<node_1_label>
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-0.1616660066769419, 2.2168933355715126e-15, 0.0, #<relative_line_position> [m]
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3, 0.0, -0.0, -1.0, 2, -1.0, -2.220446049250313e-16, 0.0, #<relative_orientation>
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structural_node_4, #<node_2_label>
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offset, 0.031223927501520705, -1.69909327496498e-09, 7.275957614183426e-15; #<relative_offset> [m]
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#-----------------------------------------------------------------------------
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# [Drive callers]
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drive caller: 1, name,"drive:1", ramp, 10.0, 0.0, 1.0, 0.0;
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end: elements;
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