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External Force and Torque

Apply external force and/or torque to connected frame

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    Libraries:
    Simscape / Multibody / Forces and Torques

    Description

    The External Force and Torque block applies the external force and/or torque to the frame that connects to the F port of the block. The forces act at the origin of the frame and the torques act about the corresponding axes of the frame. The block accepts physical signals to specify the forces and torques. The signal can be a constant or time-varying value throughout a simulation.

    You can specify the resolution frame to resolve the force and torque inputs. A force input with a positive value acts along the positive direction of the associated frame axis. A torque input with a positive value acts about the associated frame axis according to the right-hand rule.

    Ports

    Frame

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    Follower frame at which the external forces and torques apply.

    Input

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    Force

    Physical signal port that accepts the external force in the x-direction of the force resolution frame. The input signal is a scalar that can vary over time.

    Dependencies

    To enable this port, under Force, select Force (X).

    Physical signal port that accepts the external force in the y-direction of the force resolution frame. The input signal is a scalar that can vary over time.

    Dependencies

    To enable this port, under Force, select Force (Y).

    Physical signal port that accepts the external force in the z-direction of the force resolution frame. The input signal is a scalar that can vary over time.

    Dependencies

    To enable this port, under Force, select Force (Z).

    Physical signal port that accepts the external force. The input signal is a 1-by-3 or 3-by-1 vector, [Fx Fy Fz], that can vary over time.

    Dependencies

    To enable this port, under Force, select Force.

    Torque

    Physical signal port that accepts the external torque about the x-axis of the torque resolution frame. The input signal is a scalar that can vary over time.

    Dependencies

    To enable this port, under Torque, select Torque (X).

    Physical signal port that accepts the external torque about the y-axis of the torque resolution frame. The input signal is a scalar that can vary over time.

    Dependencies

    To enable this port, under Torque, select Torque (Y).

    Physical signal port that accepts the external torque about the z-axis of the torque resolution frame. The input signal is a scalar that can vary over time.

    Dependencies

    To enable this port, under Torque, select Torque (Z).

    Physical signal port that accepts the external torque. The input signal is a 1-by-3 or 3-by-1 vector, [Tx Ty Tz], that can vary over time.

    Dependencies

    To enable this port, under Torque, select Torque.

    Parameters

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    Force

    Frame used to resolve the force inputs, specified as:

    • Attached Frame — The block resolves the inputs in the frame that connects to the follower frame of the External Force and Torque block.

    • World — The block resolves the inputs in the world frame of the model.

    Torque

    Frame used to resolve the torque inputs, specified as:

    • Attached Frame — The block resolves the inputs in the frame that connects to the follower frame of the External Force and Torque block.

    • World — The block resolves the inputs in the world frame of the model.

    Extended Capabilities

    C/C++ Code Generation
    Generate C and C++ code using Simulink® Coder™.

    Version History

    Introduced in R2012a

    See Also

    Topics