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