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DefineTorqueVector[linkage, {lName1, pt}, {lName2, t}] function adds a torque vector to the LinkageData of linkage. The torque vector is defined with a point of attack (pt) which is defined w.r.t lName1's LLRF and the torque vector (t) which is defined w.r.t lName2's LLRF. lName1 and lName2 are link names defined in linkage. Torque definition is inserted to LinkageData of linkage. The function returns the resulted LinkageData. |
DefineTorqueVector[linkage, lName, t] function adds a torque definition to the LinkageData of linkage assuming that the point of attack is the origin of lName and the force (t) is defined with respect to the Ground of the linkage. |
DefineTorqueVector[linkage, lName] function adds a torque definition to the LinkageData of linkage, assuming that the point of attack is the origin of lName and the torque vector is {0,0,1} which is defined with respect to the Ground of the linkage |
TorqueName | Automatic | TorqueName is an option of DefineTorqueVector function that specifies the name of the torque. By default Ti is assigned where i is auto-incremented. |