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Rename flange_a in Prismatic and Revolute joints #220

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merged 5 commits into from
Dec 11, 2023
Merged

Rename flange_a in Prismatic and Revolute joints #220

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6598ae4
Rename connector flange_a to axis in Prismatic
tobolar Dec 11, 2023
d79a563
Rename connector flange_a to axis in Revolute
tobolar Dec 11, 2023
b8cf51b
Use renamed connector (axis)
tobolar Dec 11, 2023
44fb80e
Add conversion script
tobolar Dec 11, 2023
0a8dc83
Update release notes
tobolar Dec 11, 2023
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4 changes: 2 additions & 2 deletions PlanarMechanics/Examples/ControlledCraneCrab.mo
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Expand Up @@ -69,7 +69,7 @@ equation
points={{-20,30},{0,30}},
color={95,95,95},
thickness=0.5));
connect(prismatic.flange_a, force.flange) annotation (Line(
connect(prismatic.axis, force.flange) annotation (Line(
points={{-30,40},{-30,40},{-30,70},{-20,70}},
color={0,127,0}));
connect(prismatic.frame_b, revolute.frame_a) annotation (Line(
Expand All @@ -80,7 +80,7 @@ equation
points={{-10,-10},{-10,-20}},
color={95,95,95},
thickness=0.5));
connect(revolute.flange_a, angleSensor.flange) annotation (Line(
connect(revolute.axis, angleSensor.flange) annotation (Line(
points={{0,0},{0,0},{20,0}}));
annotation (experiment(StopTime=3),
Documentation(revisions="<html>
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5 changes: 2 additions & 3 deletions PlanarMechanics/Examples/CraneCrab.mo
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Expand Up @@ -58,9 +58,8 @@ equation
points={{-20,30},{0,30}},
color={95,95,95},
thickness=0.5));
connect(damper1D.flange_b, prismatic.flange_a)
annotation (Line(points={{-20,60},{-20,40},{-30,40}},
color={0,127,0}));
connect(damper1D.flange_b, prismatic.axis)
annotation (Line(points={{-20,60},{-20,40},{-30,40}}, color={0,127,0}));
connect(damper1D.flange_a, prismatic.support)
annotation (Line(points={{-40,60},{-40,40},{-36,40}}, color={0,127,0}));
annotation (experiment(StopTime=10),
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5 changes: 2 additions & 3 deletions PlanarMechanics/Examples/CraneCrabTo3D.mo
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Expand Up @@ -80,9 +80,8 @@ equation
points={{40,30},{60,30}},
color={95,95,95},
thickness=0.5));
connect(damper1D.flange_b, prismatic.flange_a)
annotation (Line(points={{40,60},{40,40},{30,40}},
color={0,127,0}));
connect(damper1D.flange_b, prismatic.axis)
annotation (Line(points={{40,60},{40,40},{30,40}}, color={0,127,0}));
connect(body3D.frame_a, prismatic3D.frame_b) annotation (Line(
points={{-10,-30},{-10,-50},{-20,-50}},
color={95,95,95},
Expand Down
11 changes: 4 additions & 7 deletions PlanarMechanics/Examples/InvertedCraneCrab.mo
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Expand Up @@ -60,15 +60,12 @@ equation
color={95,95,95},
thickness=0.5));
connect(ramp.y, firstOrder.u) annotation (Line(
points={{67.4,0},{64.7,0},{64.7,0},{63.2,
0}},
points={{67.4,0},{64.7,0},{64.7,0},{63.2,0}},
color={0,0,127}));
connect(firstOrder.y, inverseBlockConstraints.u2) annotation (Line(
points={{49.4,0},{47.8,0},{47.8,0},{46.2,
0},{46.2,0},{43,0}},
points={{49.4,0},{47.8,0},{47.8,0},{46.2,0},{46.2,0},{43,0}},
color={0,0,127}));

connect(revolute.flange_a, angleSensor.flange)
connect(revolute.axis, angleSensor.flange)
annotation (Line(points={{0,0},{0,0},{8,0}}));
connect(revolute.frame_b, fixedTranslation.frame_a) annotation (Line(
points={{-10,-10},{-10,-20}},
Expand All @@ -87,7 +84,7 @@ equation
points={{-20,30},{0,30}},
color={95,95,95},
thickness=0.5));
connect(force.flange, prismatic.flange_a) annotation (Line(
connect(force.flange, prismatic.axis) annotation (Line(
points={{-20,70},{-30,70},{-30,40}},
color={0,127,0}));
annotation (Documentation(revisions="<html>
Expand Down
2 changes: 1 addition & 1 deletion PlanarMechanics/Examples/KinematicLoop.mo
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Expand Up @@ -108,7 +108,7 @@ equation
points={{20,60},{-40,60}},
color={95,95,95},
thickness=0.5));
connect(springDamper1D.flange_b, prismatic1.flange_a)
connect(springDamper1D.flange_b, prismatic1.axis)
annotation (Line(points={{20,90},{30,90},{30,70}}, color={0,127,0}));
connect(prismatic1.frame_b, revolute3.frame_a) annotation (Line(
points={{40,60},{80,60},{80,50}},
Expand Down
2 changes: 1 addition & 1 deletion PlanarMechanics/Examples/KinematicLoop_DynamicStateSelection.mo
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Expand Up @@ -103,7 +103,7 @@ equation
points={{40,60},{80,60},{80,50}},
color={95,95,95},
thickness=0.5));
connect(springDamper1D.flange_b, prismatic1.flange_a)
connect(springDamper1D.flange_b, prismatic1.axis)
annotation (Line(points={{20,90},{30,90},{30,70}}, color={0,127,0}));
annotation (experiment(StopTime=6),
Documentation(revisions="<html>
Expand Down
9 changes: 4 additions & 5 deletions PlanarMechanics/GearComponents/Examples/SpurGear.mo
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Expand Up @@ -43,18 +43,17 @@ model SpurGear "Rigid spur gear"
annotation (Placement(transformation(extent={{20,60},{40,80}})));
equation
connect(gearA_Bearing.frame_b, gearA.frame_a)
annotation (Line(
annotation (Line(
points={{-40,0},{-20,0},{-20,20}},
color={95,95,95},
thickness=0.5));
connect(constantSpeed.flange, gearA_Bearing.flange_a)
annotation (Line(
points={{-80,20},{-50,20},{-50,10}}));
connect(constantSpeed.flange, gearA_Bearing.axis)
annotation (Line(points={{-80,20},{-50,20},{-50,10}}));
connect(fixed_A.frame, gearA_Bearing.frame_a) annotation (Line(
points={{-70,-42},{-70,0},{-60,0}},
color={95,95,95},
thickness=0.5));
connect(constantTorque.flange, gearB_Bearing.flange_a) annotation (Line(
connect(constantTorque.flange, gearB_Bearing.axis) annotation (Line(
points={{-80,48},{50,48},{50,10}}));
connect(gearwheelExternal.frame_a, gearA_Bearing.frame_b) annotation (Line(
points={{-10,0},{-40,0}},
Expand Down
10 changes: 5 additions & 5 deletions PlanarMechanics/GearComponents/Examples/Utilities/RigidNoLossPlanetary.mo
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Expand Up @@ -131,7 +131,7 @@ equation
points={{-80,30},{-80,10},{-70,10}},
color={95,95,95},
thickness=0.5));
connect(bearing_Sun.flange_a, flange_Sun) annotation (Line(
connect(bearing_Sun.axis, flange_Sun) annotation (Line(
points={{-60,0},{-60,0},{-60,-10},{-100,-10},{-100,0}}));
connect(bearing_Carrier.frame_b, carrierAngle.frame_a) annotation (Line(
points={{-50,-40},{-40,-40}},
Expand All @@ -145,13 +145,13 @@ equation
points={{-70,40},{-80,40},{-80,30}},
color={95,95,95},
thickness=0.5));
connect(bearing_Ring.flange_a, flange_Ring) annotation (Line(
connect(bearing_Ring.axis, flange_Ring) annotation (Line(
points={{-60,50},{-60,60},{-100,60}}));
connect(planet.frame_a, bearing_Planet.frame_b) annotation (Line(
points={{72,40},{48,40},{48,-40},{40,-40}},
color={95,95,95},
thickness=0.5));
connect(sun.flange_a, bearing_Sun.flange_a) annotation (Line(
connect(sun.flange_a, bearing_Sun.axis) annotation (Line(
points={{-40,-10},{-60,-10},{-60,0}}));
connect(bearing_Sun.frame_b, sunPlanet.frame_a) annotation (Line(
points={{-50,10},{0,10}},
Expand All @@ -163,15 +163,15 @@ equation
points={{-50,40},{0,40}},
color={95,95,95},
thickness=0.5));
connect(ring.flange_a, bearing_Ring.flange_a) annotation (Line(
connect(ring.flange_a, bearing_Ring.axis) annotation (Line(
points={{-40,60},{-60,60},{-60,50}}));
connect(sunPlanet.heatPort, internalHeatPort) annotation (Line(
points={{0,0},{60,0},{60,-60},{-90,-60},{-90,-80},{-100,-80}},
color={191,0,0}));
connect(planetRing.heatPort, internalHeatPort) annotation (Line(
points={{20,30},{60,30},{60,-60},{-90,-60},{-90,-80},{-100,-80}},
color={191,0,0}));
connect(bearing_Carrier.flange_a, carrier.flange_a) annotation (Line(
connect(bearing_Carrier.axis, carrier.flange_a) annotation (Line(
points={{-60,-30},{-60,-26},{70,-26}}));
connect(planarWorld.MBFrame_a,frameVisualisation) annotation (Line(
points={{60,-80},{0,-80},{0,-100}},
Expand Down
11 changes: 6 additions & 5 deletions PlanarMechanics/Joints/Prismatic.mo
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Expand Up @@ -14,14 +14,15 @@ model Prismatic "A prismatic joint"
final parameter Real e[2](each final unit="1") = Modelica.Math.Vectors.normalizeWithAssert(r)
"Unit vector in direction of r";

Modelica.Mechanics.Translational.Interfaces.Flange_a flange_a(f = f, s = s) if useFlange
annotation (
Placement(transformation(extent={{-10,-110},{10,-90}})));
Modelica.Mechanics.Translational.Interfaces.Flange_a axis(
f=f,
s=s) if useFlange
"1-dim. translational flange that drives the joint"
annotation (Placement(transformation(extent={{-10,-110},{10,-90}})));

Modelica.Mechanics.Translational.Interfaces.Flange_b support if useFlange
"1-dim. translational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint)"
annotation (Placement(transformation(extent={{10,10},{-10,-10}}, rotation=180,
origin={-60,-100})));
annotation (Placement(transformation(extent={{-70,-110},{-50,-90}})));

parameter SI.Length zPosition = planarWorld.defaultZPosition
"Position z of the prismatic joint box" annotation (Dialog(
Expand Down
11 changes: 5 additions & 6 deletions PlanarMechanics/Joints/Revolute.mo
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Expand Up @@ -9,14 +9,13 @@ model Revolute "A revolute joint"
parameter StateSelect stateSelect=StateSelect.default
"Priority to use phi and w as states" annotation(HideResult=true,Dialog(tab="Advanced"));

Modelica.Mechanics.Rotational.Interfaces.Flange_a flange_a(phi = phi, tau = t) if useFlange annotation (
Placement(transformation(extent={{-10,-110},{10,-90}})));

Modelica.Mechanics.Rotational.Interfaces.Flange_a axis(
phi=phi,
tau=t) if useFlange "1-dim. rotational flange that drives the joint"
annotation (Placement(transformation(extent={{-10,-110},{10,-90}})));
Modelica.Mechanics.Rotational.Interfaces.Flange_b support if useFlange
"1-dim. rotational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint)"
annotation (Placement(transformation(extent={{-10,10},{10,-10}},
rotation=180,
origin={-60,-100})));
annotation (Placement(transformation(extent={{-70,-110},{-50,-90}})));

parameter SI.Length zPosition = planarWorld.defaultZPosition
"Position z of cylinder representing the joint axis" annotation (Dialog(
Expand Down
5 changes: 5 additions & 0 deletions PlanarMechanics/Resources/Scripts/Conversion/ConvertFromPlanarMechanics_2_0_0.mos
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Expand Up @@ -43,3 +43,8 @@ convertClass("PlanarMechanics.Utilities.Functions.atan3b",
"Modelica.Math.atan3")
// No conversion for PlanarMechanics.Utilities.Functions.atan3b_der
// and PlanarMechanics.Utilities.Functions.atan3b_dder

// Issue 169
convertElement({"PlanarMechanics.Joints.Prismatic",
"PlanarMechanics.Joints.Revolute"},
"flange_a", "axis");
26 changes: 19 additions & 7 deletions PlanarMechanics/UsersGuide/ReleaseNotes.mo
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Expand Up @@ -40,31 +40,43 @@ It is <strong>not</strong> backwards compatible to previous library versions.
</li>
</ul>

<p>Deleted parameters:</p>
<p>Deleted parameters (conversion script is provided):</p>
<ul>
<li>
<a href=\"modelica://PlanarMechanics.Sources.RelativeForce\">Sources.RelativeForce</a>:
diameter
<code>diameter</code>
</li>
<li>
<a href=\"modelica://PlanarMechanics.Sources.WorldForce\">Sources.WorldForce</a>:
diameter
<code>diameter</code>
</li>
<li>
<a href=\"modelica://PlanarMechanics.Sources.QuadraticSpeedDependentForce\">Sources.QuadraticSpeedDependentForce</a>:
diameter
<code>diameter</code>
</li>
<li>
<a href=\"modelica://PlanarMechanics.Sensors.CutForce\">Sensors.CutForce</a>:
forceDiameter
<code>forceDiameter</code>
</li>
<li>
<a href=\"modelica://PlanarMechanics.Sensors.CutForceAndTorque\">Sensors.CutForceAndTorque</a>:
forceDiameter, torqueDiameter
<code>forceDiameter</code>, <code>torqueDiameter</code>
</li>
<li>
<a href=\"modelica://PlanarMechanics.Sensors.CutTorque\">Sensors.CutTorque</a>:
torqueDiameter
<code>torqueDiameter</code>
</li>
</ul>

<p>Renamed parameters (conversion script is provided):</p>
<ul>
<li>
<a href=\"modelica://PlanarMechanics.Joints.Prismatic\">Joints.Prismatic</a>:
<code>flange_a</code> renamed to <code>axis</code>.
</li>
<li>
<a href=\"modelica://PlanarMechanics.Joints.Revolute\">Joints.Revolute</a>:
<code>flange_a</code> renamed to <code>axis</code>.
</li>
</ul>

Expand Down
4 changes: 2 additions & 2 deletions PlanarMechanics/VehicleComponents/Examples/TwoTrackWithDifferentialGear.mo
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Expand Up @@ -239,9 +239,9 @@ equation
points={{-40,20},{-40,12},{-30,12}},
color={95,95,95},
thickness=0.5));
connect(torque.flange, revolute2.flange_a) annotation (Line(
connect(torque.flange, revolute2.axis) annotation (Line(
points={{-10,40},{-10,30},{-30,30}}));
connect(revolute.flange_a, revolute2.flange_a) annotation (Line(
connect(revolute.axis, revolute2.axis) annotation (Line(
points={{30,30},{30,30},{-30,30}}));
connect(revolute.frame_a, rightTrail.frame_a) annotation (Line(
points={{40,40},{40,50}},
Expand Down
8 changes: 4 additions & 4 deletions PlanarMechanicsTest/Sensors.mo
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Expand Up @@ -392,7 +392,7 @@ Expected results:
points={{20,80},{0,80},{0,-20},{10,-20}},
color={95,95,95},
thickness=0.5));
connect(constantTorque.flange, revolute1.flange_a) annotation (Line(points={{-70,-60},{-60,-60},{-60,-30}}, color={0,0,0}));
connect(constantTorque.flange, revolute1.axis) annotation (Line(points={{-70,-60},{-60,-60},{-60,-30}}, color={0,0,0}));

annotation (experiment(StopTime=1));
end AbsoluteAccCentrifugalAcc;
Expand Down Expand Up @@ -451,7 +451,7 @@ Expected results:
points={{-80,0},{-76,0},{-76,-30},{68,-30},{68,-10}},
color={95,95,95},
thickness=0.5));
connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{-20,40},{-20,20},{-30,20},{-30,10}}));
connect(damper.flange_b, revolute.axis) annotation (Line(points={{-20,40},{-20,20},{-30,20},{-30,10}}));
connect(revolute.support,damper. flange_a) annotation (Line(points={{-36,10},{-36,20},{-40,20},{-40,40}}));
annotation (
experiment(StopTime=3));
Expand Down Expand Up @@ -516,7 +516,7 @@ Expected results:
points={{0,0},{10,0}},
color={95,95,95},
thickness=0.5));
connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{30,40},{30,20},{20,20},{20,10}}));
connect(damper.flange_b, revolute.axis) annotation (Line(points={{30,40},{30,20},{20,20},{20,10}}));
connect(revolute.support,damper. flange_a) annotation (Line(points={{14,10},{14,20},{10,20},{10,40}}));
annotation (
experiment(StopTime=3));
Expand Down Expand Up @@ -602,7 +602,7 @@ Expected results:
connect(signalVec3.y,worldForce. force) annotation (Line(
points={{-39,-40},{-22,-40}},
color={0,0,127}));
connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{40,40},{40,20},{30,20},{30,10}}));
connect(damper.flange_b, revolute.axis) annotation (Line(points={{40,40},{40,20},{30,20},{30,10}}));
connect(revolute.support,damper. flange_a) annotation (Line(points={{24,10},{24,20},{20,20},{20,40}}));
annotation (
experiment(StopTime=3));
Expand Down
6 changes: 3 additions & 3 deletions PlanarMechanicsTest/Sources.mo
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Expand Up @@ -98,7 +98,7 @@ package Sources "Test models for PlanarMechanics.Sources"
points={{20,20},{30,20},{30,50},{40,50}},
color={95,95,95},
thickness=0.5));
connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{-10,90},{-10,70},{-20,70},{-20,60}}));
connect(damper.flange_b, revolute.axis) annotation (Line(points={{-10,90},{-10,70},{-20,70},{-20,60}}));
connect(revolute.support, damper.flange_a) annotation (Line(points={{-26,60},{-26,70},{-30,70},{-30,90}}));
annotation (
experiment(StopTime=3));
Expand Down Expand Up @@ -177,7 +177,7 @@ package Sources "Test models for PlanarMechanics.Sources"
points={{10,-40},{20,-40},{20,20},{30,20}},
color={95,95,95},
thickness=0.5));
connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{-20,60},{-20,40},{-30,40},{-30,30}}));
connect(damper.flange_b, revolute.axis) annotation (Line(points={{-20,60},{-20,40},{-30,40},{-30,30}}));
connect(revolute.support, damper.flange_a) annotation (Line(points={{-36,30},{-36,40},{-40,40},{-40,60}}));
connect(fixedRotated.frame, force_inFrameResolve.frame_resolve) annotation (Line(
points={{-50,-80},{0,-80}},
Expand Down Expand Up @@ -257,7 +257,7 @@ package Sources "Test models for PlanarMechanics.Sources"
connect(signalVec3.y, force_inWorld.force) annotation (Line(points={{-39,-40},{-30,-40},{-30,-10},{-12,-10}}, color={0,0,127}));
connect(signalVec3.y, force_inFrameA.force) annotation (Line(points={{-39,-40},{-12,-40}}, color={0,0,127}));
connect(signalVec3.y, force_inFrameResolve.force) annotation (Line(points={{-39,-40},{-30,-40},{-30,-70},{-12,-70}}, color={0,0,127}));
connect(damper.flange_b, revolute.flange_a) annotation (Line(points={{-20,60},{-20,40},{-30,40},{-30,30}}));
connect(damper.flange_b, revolute.axis) annotation (Line(points={{-20,60},{-20,40},{-30,40},{-30,30}}));
connect(revolute.support, damper.flange_a) annotation (Line(points={{-36,30},{-36,40},{-40,40},{-40,60}}));
connect(fixedRotated.frame, force_inFrameResolve.frame_resolve) annotation (Line(
points={{-40,-80},{0,-80}},
Expand Down