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SHA3-256: 034a73743659fdc4fb8b1c20ede4b5bb75eefa4a6f0fa6905751b0ca0a934d65
User & Date: gawthrop@users.sourceforge.net on 1998-07-27 10:46:30
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Context
1998-07-27
10:49:10
Major revision to include aliases etc check-in: 69a9eb9cd6 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
10:46:30
Initial revision check-in: 034a737436 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
10:44:50
Tidied check-in: 6cb70c9a2f user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes

Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_input.txt version [1fea5dda9b].





























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# Numerical parameter file (TwoLink_input.txt)
# Generated by MTT at Fri Jun 13 16:56:09 BST 1997

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Set the inputs
u(1) =	(t<1.0);		# Torque on Joint 1
u(2) =	-(t>10.0)&&(t<11.0);	# Torque on Joint 2
u(3) =	0.0;			# Gravity

Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_lbl.txt version [25f795ebd1].









































































































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%SUMMARY TwoLink: two-link manipulator from Section 10.5 of "Metamodelling"
%DESCRIPTION This is a heirachical version of the 
%DESCRIPTION example from Section 10.5 of "Metamodelling".
%DESCRIPTION It uses two compound components: ROD and GRA
%DESCRIPTION ROD is essentially as described in Figure 10.2
%DESCRIPTION GRAV represents gravity by a vertical accelleration
%DESCRIPTION as in Section 10.9 of "Metamodelling"


%% Label (TwoLink_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  1996/12/05  12:39:49  peterg
% %% Documentation
% %%
% %% Revision 1.1  1996/12/05 12:17:15  peterg
% %% Initial revision
% %%
% %% Revision 1.1  1996/11/14  10:48:42  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%% Each line should be of one of the following forms:
%	a comment (ie starting with %)
%	Component-name	CR_name	arg1,arg2,..argn
%	blank

%Rod parameters - uniform rods
rod1	none	l_1;l_1;j_1;m_1
rod2	none	l_2;l_2;j_2;m_2

%Zero velocity sources
v_x	internal	0
v_y	internal	0


%Zero force/torque sources
F_x	0	internal
F_a	0	internal
F_y	0	internal


%Torque/velocity at joints
f_a1	external external
f_a2	external external


Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_numpar.txt version [0fbe82c500].





































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# Numerical parameter file (TwoLink_numpar.txt)
# Generated by MTT at Mon Jan 19 13:53:15 GMT 1998

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% Version control history
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %% $Id$
# %% $Log$
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

# Parameters
j_1 = 	1.0; # Parameter j_1 for TwoLink
j_2 = 	1.0; # Parameter j_2 for TwoLink
l_1 = 	1.0; # Parameter l_1 for TwoLink
l_2 = 	1.0; # Parameter l_2 for TwoLink
m_1 = 	1.0; # Parameter m_1 for TwoLink
m_2 = 	1.0; # Parameter m_2 for TwoLink

Added mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLink/TwoLink_simpar.txt version [3605f48324].





























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# Simulation parameters for system TwoLink (TwoLink_simpar.txt)
# Generated by MTT on Mon Jul 27 08:16:50 BST 1998.
###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
###############################################################


LAST=50.0;
DT=0.1;
STEPFACTOR=10;
METHOD="Euler";


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