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