Definition in Plot

The output of flexible contact forces in RecurDyn/F-Flex is a contact force generalized on a specified marker. The contact force is a force and torque generalized on a user-defined marker. The default marker is the inertia reference frame. If the base or action body of a contact is a rigid body, the reference marker for output is automatically defined as the center marker of the body.

• Contact
• The lists of Contact include the result data about each contact force.

Figure 1. Definition of contact plot data

As shown in Figure 1, the position vector of   and   are the displacement vectors from the positions of the specified reference frame to the actual contact point to plot contact forces applied on the action and base bodies. The contact force vectors of   and   are the contact normal force and friction force, respectively.

• FM_Contact_Action: The magnitude of the translational force generalized at the specified marker due to the contact force acting on the contact point of the action body.
• FX_Contact_Action, FY_ Contact_Action, FZ_ Contact_Action: The x, y and z components of the translational force generalized at the specified marker due to the contact force acting on the contact point of the action body.

• TM_ Contact_Action: The magnitude of the torque generalized at the specified marker due to the contact force acting on the contact point of action body.
• TX_ Contact_Action, TY_ Contact_Action, TZ_ Contact_Action: The x, y and z components of the torque generalized at the specified marker due to the contact force acting on the contact point of the action body.

where,   is the orientation matrix of the reference frame specified to output a contact force applied on the action body.

• FM_Contact_Base: The magnitude of the translational force generalized at the specified marker due to the contact force acting on the contact point of the base body.
• FX_Contact_ Base, FY_ Contact_ Base, FZ_ Contact_ Base: The x, y and z components of the translational force generalized at the specified marker due to the contact force acting on the contact point of the base body.

• TM_ Contact_ Base: The magnitude of the torque generalized at the specified marker due to the contact force acting on the contact point of the base body.
• TX_ Contact_ Base, TY_ Contact_ Base, TZ_ Contact_ Base: The x, y and z components of the torque generalized at the specified marker due to the contact force acting on the contact point of the base body.

where,   is the orientation matrix of the reference frame specified to output a contact force applied on the base body.