Backlash model definition

@BACKLASH_MODEL_DEFINITION {
@BACKLASH_MODEL_NAME {BklModlName} {
@BACKLASH_STOP_LOCATION {s1, s2}
@CONTACT_MODEL_NAME {cntmodlName1, cntmodlName2}
@BACKLASH_STOP_RADIUS {R1, R2}
@COMMENTS {CommentText}
}
}

NOTES

  1. The backlash model definition describes the parameters associated with the backlash behavior of various joint elements. This model is used with relative displacement elements, relative rotation elements or curve sliding joint motion elements.
  2. Figure 1. Revolute joint with backlash.
  3. Figure 1 shows the configuration of the backlash problem for a relative rotation element. The backlash condition will ensure that the relative rotation φ is less than the stop angle φ1 = s1 > 0 and greater than angle φ2 = s2 < 0 at all times during the simulation, i.e. φ2 ≤ φ ≤ φ1. When the upper limit is reached, i.e. when φ = φ1, a contact model cntmodlName1 is activated. The physical contact takes place at a distance R1 from the rotation axis of the joint. When the lower limit is reached, i.e. when φ = φ2, a contact model cntmodlName2 is activated, its distance from the axis of rotation is R2. Note that the relative rotations φ1 and φ2 are defined according to the positive direction of the relative rotation.
  4. Figure 2. Prismatic joint with backlash.
  5. Figure 2 shows the configuration of the backlash problem for a relative displacement element. The backlash condition will ensure that the relative displacement Δ is less than the stop distance Δ1 = s1 > 0 and greater than distance Δ2 = s2 < 0 at all times during the simulation, i.e. Δ2 ≤ Δ ≤ Δ1. When the upper limit is reached, i.e. when Δ = Δ1, a contact model cntmodlName1 is activated. When the lower limit is reached, i.e. when Δ = Δ2, a contact model, cntmodlName2, is activated. Note that the relative displacements Δ1 and Δ2 are defined according to the positive direction for relative displacements. The radii values R1 and R2 are not used for the relative displacement backlash, and need not be defined.
  6. It is possible to attach comments to the definition of the object; these comments have no effect on its definition.