Description:

The coordinate system is right hand rule. X cross Y gives Z and Roll is right hand rule about X, Pitch is right hand rule about Y, and Yaw is right hand rule about Z.

Vector Storage:

All linear three vectors (LinPos, LinVel) store their values as [X, Y, Z].
All angular three vectors (AngVel) store their values as [Roll, Pitch, Yaw].
The transformation matrix TM is stored:

Pre-multiplying a local vector by the TM will generate the vector in global coordinates.

Multibody Dynamics, Link Numbers and 60 and 20 Length Vectors:

Please refer to Multibody Dynamics and 60 Length Vectors for information on 60
length vectors.

Methodology:

The TSDA models a translational spring damper actuator. The extension and orientation of the spring damper actuator is calculated based on the positions of its two end points LinPos1 and LinPos2. The velocity of the TSDA is calculated as the difference in velocities between LinVel1 and LinVel2 along the axis of motion of the TSDA. The force applied by the TSDA is calculated base on:

Force = K * TSDAVelocity + D * TSDAPosition + TSDAForce

SimRealVar LinVel1[3] - Global Linear Velocity (m/s)
SimRealVar LinPos1[3] - Global Linear Position (m)

Outputs:

SimRealVar Force1[60] - Global Force (N)
SimRealVar Moment1[60] - Global Moment (Nm)
 

SimRealVar K - Spring Rate (N/m)
SimRealVar D - Damping Rate (Ns/m)
SimRealVar DefaultLen - Default Length (m)

SimRealVar LinVel3[3] - Global Linear Velocity (m/s)
SimRealVar LinPos3[3] - Global Linear Position (m)

Outputs:

SimRealVar Force3[60] - Global Force (N)
SimRealVar Moment3[60] - Global Moment (Nm)
 

SimRealVar TSDAForce - TSDA Force +ve extension (N)

Outputs:

DIMA - Three times the maximum number of links in the current chain (normally set to 60)

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