Torus

Contactable torus

 Description The Torus component models a contactable torus. The small radius, $r$, of the torus is used as the uncompressed length, ${L}_{0}$, in the contact force computation (for details, see Multibody Contact Modes).

Connections

 Name Description Modelica ID ${\mathrm{frame}}_{a}$ Center of torus frame_a ${\mathrm{port}}_{a}$ Contact port port_a

Parameters

 Name Default Units Description Modelica ID visualization $\mathrm{false}$ - True means geometry is visible in playback visualization ${e}_{\mathrm{axis}}$ [1,0,0] - Axial unit vector e_axis Color $\mathrm{orange}$ - Color of the torus color $R$ $1$ $m$ Big radius R $r$ $0.1$ $m$ Small radius r