1# DynaMechs V 4.0 ascii 2# crank parameter file 3 4ClosedArticulation { 5 Name "slider_crank" 6 Graphics_Model "" 7 Position 1.375 2.25 0.5 8 Orientation_Quat 0.0 0.0 0.0 1.0 9 10 TreeStructure { 11 StaticRootLink { 12 Name "base" 13 Graphics_Model "../models/crank_base.xan" 14 } 15 16 ZScrewTxLink { 17 Name "" 18 ZScrew_Parameters 0.275 0.0 19 } 20 21 RevoluteLink { 22 Name "crank" 23 Graphics_Model "../models/crank_wheel.xan" 24 25 Mass 2.0 26 Inertia 0.02167 0.0 0.0 27 0.0 0.02167 0.0 28 0.0 0.0 0.04 29 Center_of_Gravity 0.0 0.0 0.0 30 31 Number_of_Contact_Points 0 32 33 MDH_Parameters 0.25 1.5708 0.15 0.0 34 Initial_Joint_Velocity 5.0 35 Joint_Limits -1e10 1e10 36 Joint_Limit_Spring_Constant 0.0 37 Joint_Limit_Damper_Constant 0.0 38 39 Actuator_Type 0 40 Joint_Friction 0.001 41 } 42 43 SphericalLink { 44 Name "linkage" 45 Graphics_Model "../models/crank_linkage.xan" 46 47 Mass 0.25 48 Inertia 0.000078 0.0 0.0 49 0.0 0.03004 0.0 50 0.0 0.0 0.03004 51 Center_of_Gravity 0.3 0.0 0.0 52 53 Number_of_Contact_Points 0 54 55 Position_From_Inboard_Link 0.2 0.0 0.075 56 Initial_Joint_Angles 0.0 0.0 0.0 57 Initial_Angular_Velocity 0.0 0.0 0.0 58 Axes_Limits 0.0 0.0 0.0 59 Joint_Limit_Spring_Constant 0.0 60 Joint_Limit_Damper_Constant 0.0 61 Joint_Friction 0.0 62 } 63 64 65 SphericalLink { 66 Name "piston" 67 Graphics_Model "../models/crank_piston.xan" 68 69 Mass 0.5 70 Inertia 0.0003063 0.0 0.0 71 0.0 0.003903 0.0 72 0.0 0.0 0.003903 73 Center_of_Gravity 0.075 0.0 0.0 74 75 Number_of_Contact_Points 0 76 77 Position_From_Inboard_Link 0.6 0.0 0.0 78 Initial_Joint_Angles 0.0 0.0 0.0 79 Initial_Angular_Velocity 0.0 0.0 0.0 80 Axes_Limits 0.0 0.0 0.0 81 Joint_Limit_Spring_Constant 0.0 82 Joint_Limit_Damper_Constant 0.0 83 Joint_Friction 0.0 84 } 85 } 86 87 SecondaryJoints { 88 HardPrismaticJoint { 89 Name "secPrisJnt_1" 90 Stabilization BAUMGARTE 91 92 Link_A_Name "base" 93 Link_B_Name "piston" 94 95 Joint_A_Position 0.0 -0.5 0.5 96 Rotation_Matrix_A 0.0 0.0 1.0 97 0.0 1.0 0.0 98 -1.0 0.0 0.0 99 100 Joint_B_Position 0.0 0.0 0.0 101 Rotation_Matrix_B 0.0 0.0 1.0 102 -1.0 0.0 0.0 103 0.0 -1.0 0.0 104 105 Joint_Friction 0.0 106 107 Position_Constraint_Spring 100.0 108 Position_Constraint_Damper 20.0 109 110 Orientation_Constraint_Spring 100.0 111 Orientation_Constraint_Damper 20.0 112 } 113 } 114} 115 116# not parsed -- can replace the hard constraint above 117 118 SecondaryJoints { 119 SoftPrismaticJoint { 120 Name "secPrisJnt_1" 121 122 Link_A_Name "base" 123 Link_B_Name "piston" 124 125 Joint_A_Position 0.0 -0.5 0.5 126 Rotation_Matrix_A 0.0 0.0 1.0 127 0.0 1.0 0.0 128 -1.0 0.0 0.0 129 130 Joint_B_Position 0.0 0.0 0.0 131 Rotation_Matrix_B 0.0 0.0 1.0 132 -1.0 0.0 0.0 133 0.0 -1.0 0.0 134 135 Joint_Friction 0.0 136 137 Position_Constraint_Spring 500.0 138 Position_Constraint_Damper 25.0 139 140 Orientation_Constraint_Spring 10.0 141 Orientation_Constraint_Damper 1.0 142 } 143 } 144