def fix_extremity(self, fea_nodes, body, system):
"""
Fix the extremities of the sleeve to the left and right side of the body
:param body: a ChBody where the nodes of the sleeve will be fixed
:param system:
:return:
"""
for fn in fea_nodes:
constr = chrono.ChLinkMateGeneric()
constr.Initialize(fn, body, False, fn.Frame(), fn.Frame())
system.Add(constr)
constr.SetConstrainedCoords(True, True, True, True, True, True)
my_mesh.AddElement(belement2);
# Apply a force or a torque to a node:
hnode2.SetForce(chrono.ChVectorD(4, 2, 0))
hnode3.SetTorque(chrono.ChVectorD(0, -0.04, 0))
# Fix a node to ground:
# hnode1.SetFixed(True)
# otherwise fix it using constraints:
mtruss = chrono.ChBody()
mtruss.SetBodyFixed(True)
my_system.Add(mtruss)
constr_bc = chrono.ChLinkMateGeneric()
constr_bc.Initialize(hnode3, mtruss, False, hnode3.Frame(), hnode3.Frame())
my_system.Add(constr_bc)
constr_bc.SetConstrainedCoords(True, True, True, # x, y, z
True, True, True) # Rx, Ry, Rz
constr_d = chrono.ChLinkMateGeneric()
constr_d.Initialize(hnode1, mtruss, False, hnode1.Frame(), hnode1.Frame())
my_system.Add(constr_d)
constr_d.SetConstrainedCoords(False, True, True, # x, y, z
False, False,False) # Rx, Ry, Rz
# Add some EULER-BERNOULLI BEAMS (the fast way!)
# Shortcut!
msection.SetBeamRaleyghDamping(0.200) msection.SetDensity(1500) # Create a beam of Eulero-Bernoulli type: melementA = fea.ChElementBeamEuler() melementA.SetNodes(mnodeA, mnodeB) melementA.SetSection(msection) my_mesh.AddElement(melementA) # Create also a truss truss = chrono.ChBody() truss.SetBodyFixed(True) my_system.Add(truss) # Create a constraat the end of the beam constr_a = chrono.ChLinkMateGeneric() constr_a.Initialize(mnodeA, truss, False, mnodeA.Frame(), mnodeA.Frame()) my_system.Add(constr_a) constr_a.SetConstrainedCoords(True, True, True, # x, y, z True, True, True) # Rx, Ry, Rz # APPLY SOME LOADS! # First: loads must be added to "load containers", # and load containers must be added to your system mloadcontainer = chrono.ChLoadContainer() my_system.Add(mloadcontainer) # Example 1: # Add a vertical load to the end of the beam element:
# melement.AddLayer(plate_thickness/3, 0 * CH_C_DEG_TO_RAD, mat_ortho)
elarray[(iu - 1) * (nels_W) + (iw - 1)] = melement
nodesLoad.append(nodes_end[int(len(nodes_end) / 2)])
nodePlotA = nodes_end[int(len(nodes_end) / 2)]
nodePlotB = nodes_end[int(len(nodes_end) / 2)]
for mstartnode in nodes_start :
mstartnode.SetFixed(True)
mtruss = chrono.ChBody()
mtruss.SetBodyFixed(True)
my_system.Add(mtruss)
for mendnode in nodes_left :
mlink = chrono.ChLinkMateGeneric(False, True, False, True, False, True)
mlink.Initialize(mendnode, mtruss, False, mendnode.Frame(), mendnode.Frame())
my_system.Add(mlink)
for mendnode in nodes_right :
mlink = chrono.ChLinkMateGeneric(False, True, False, True, False, True)
mlink.Initialize(mendnode, mtruss, False, mendnode.Frame(), mendnode.Frame())
my_system.Add(mlink)
load_force = chrono.ChVectorD(0, -2000, 0)
load_torque = chrono.VNULL
# reference solution to plot
ref_X.AddPoint(0.10, 1 - 0.16)
ref_X.AddPoint(0.20, 1 - 0.37)
ref_X.AddPoint(0.30, 1 - 0.66)
def __init__(self,
sys,
gravity,
material,
width,
height,
position_base,
position_tip,
damping,
elements,
torque=10,
origin=True,
stator_constraint=None):
self.mesh = fea.ChMesh()
self.mesh.SetAutomaticGravity(gravity)
self.section = fea.ChBeamSectionAdvanced()
self.section.SetAsRectangularSection(width, height)
self.section.SetYoungModulus(material.modulus)
self.section.SetGshearModulus(material.shear)
self.section.SetDensity(material.density)
self.section.SetBeamRaleyghDamping(damping)
self.position_base = chrono.ChVectorD(*position_base)
self.position_tip = chrono.ChVectorD(*position_tip)
self.builder = fea.ChBuilderBeamEuler(
) #Use the beam builder assembly method to assembly each beam
self.builder.BuildBeam(
self.mesh,
self.section,
elements,
self.position_base,
self.position_tip,
chrono.ChVectorD(0, 1, 0),
)
self.stator = chrono.ChBodyEasyCylinder(0.01, 0.01, 1000)
self.stator.SetPos(self.position_base)
self.stator.SetBodyFixed(origin)
self.frame = chrono.ChFrameD(self.stator)
sys.Add(self.stator)
if (origin == False) and (
stator_constraint is not None
): #If the beam is not located at the origin, it must need to be constrained to another beam
self.constraint = chrono.ChLinkMateGeneric()
self.constraint.Initialize(self.stator, stator_constraint, False,
chrono.ChFrameD(self.stator),
chrono.ChFrameD(stator_constraint))
self.constraint.SetConstrainedCoords(True, True, True, True, True,
True)
sys.Add(self.constraint)
self.frame = chrono.ChFrameD(self.stator)
self.rotor = chrono.ChBodyEasyCylinder(0.011, 0.011, 1000)
self.rotor.SetPos(self.position_base)
sys.Add(self.rotor)
self.frame.SetRot(
chrono.Q_from_AngAxis(chrono.CH_C_PI_2, chrono.VECT_X)
) #Rotate the direction of rotation to be planar (x-z plane)
self.motor = chrono.ChLinkMotorRotationTorque()
self.motor.Initialize(self.rotor, self.stator, self.frame)
sys.Add(self.motor)
self.motor.SetTorqueFunction(chrono.ChFunction_Const(torque))
self.arm_base = (self.builder.GetLastBeamNodes().front())
self.arm_tip = (self.builder.GetLastBeamNodes().back())
self.mate = chrono.ChLinkMateGeneric()
self.mate.Initialize(self.builder.GetLastBeamNodes().front(),
self.rotor,
chrono.ChFrameD(self.builder.GetLastBeamNodes(
).front().GetPos())) #constrain beam to rotor
self.mate.SetConstrainedCoords(
True, True, True, True, True, True
) #constraints must be in format: (True,True,True,True,True,True) to constrain x,y,z,rotx,roty,rotz coordinates
sys.Add(self.mate)
self.visual = fea.ChVisualizationFEAmesh(self.mesh)
self.visual.SetFEMdataType(
fea.ChVisualizationFEAmesh.E_PLOT_ELEM_BEAM_MZ)
self.visual.SetColorscaleMinMax(-1.4, 1.4)
self.visual.SetSmoothFaces(True)
self.visual.SetWireframe(False)
self.mesh.AddAsset(self.visual)
sys.Add(self.mesh)