4. Defining Rigid Bodies et.
al.
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All Edit Menus are similar in that they let you create a list of data
objects and provide the dialog boxes for you to change data in those objects. We
illustrate one such menu here.
Edit Body Menu lets you define the mass property of the member bodies of
your plant. On entry, it shows the Edit Menu for the first body. It has the following data
list and commands shown on the console.
|
Parameter/Command |
Selection Command |
Description |
| 1 |
ID |
ID |
Index of the body that is being edited |
| 2 |
BODY |
NM |
Name of the body |
| 3 |
PARENT |
PA |
Index of the parent body of the current body |
| 4 |
MASS |
MA |
Mass of the body |
| 5 |
INERTIA |
IN |
Moment of inertia about the body center of mass |
| 6 |
CG POSITION |
CG |
Center of mass of the indexed body relative to the origin of
the locoal coordinate frame whose origin is at the inboard hinge location |
| 7 |
HINGE POSITION |
HP |
Position of the inboard hinge reference point defined in the
parent body coordinate frame |
| 8 |
HINGE TYPE |
TP |
1 = 1 dof rotation, 2 = 3dof rotation, 3 = 1 dof rotation
prescribed, 4= 3dof rotation prescribed, 5= 1 dof translation, 6= 3 dof translation,
7=1dof translation prescribed, 8=3dof translation prescribed |
| 9 |
AXIS |
AX |
Free axis {1, 2, or 3} for 1 dof hinges |
| 10 |
ANGLE |
AN |
Angular position for 1 dof rotational hinges |
| 11 |
DC |
DC |
Nominal direction cosine matrix mapping coordinates from the
current body to its parent body coordinates |
| 13 |
WREL |
WR |
Angular rate of the current body relative to its parent body.
This rate is given in local coordinates. The units are in deg/sec |
| 14 |
HPOSR |
PR |
Hinge displacement from its nominal position. This
displacement is defined in local coordinates |
| 15 |
HVELR |
VR |
d/dt( HPOSR) |
|
| 16 |
TREE |
T |
Display the current connectivity tree of the plant |
| 17 |
NEXT |
N |
Go to the next body ID <= ID + 1 |
| 18 |
BACK |
B |
Go to the previous body ID <= ID - 1 |
| 19 |
MOVE |
M |
Move the content of the current body to another body |
| 20 |
COPY |
C |
Copy the content of the current body to another body |
| 21 |
ERASE |
E |
Delete the current body |
| 22 |
DONE |
D |
Return to the BuildX Main Menu |
Desired Action |
Procedure |
| Move to another body menu |
Change the ID of the current record to the desired ID. |
| Change the value of any parameter between parameters1 to 15 for the
current body |
Type the lettered command for the desired data that you wish to edit at
the command prompt. You will be asked to supply the necessary data to complete the edit |
| See the current connectivity tree of the plant bodies |
Type 'T' at the command prompt |
| Navigate between body menus |
Use Next, Back commands |
| Find definition of a parameter |
Type 'H' and the parameter index |
| Find definition of a command |
Type 'H' and the command index |
| Connect current body to Body j |
Type 'PA' and supply the body index of the parent, j |
| Move content of current body to Body j |
Type 'M' and supply the target body index j when prompted |
| Go back to Main Menu |
Type 'D' |
