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Constraint: Mate

Constraint: Mate

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Constraint: Mate

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Model Element

Description

Constraint_MATE is used to specify general mating constraints between geometric primitives.

Constraint_MATE differs from Constraint_Joint and Constraint_Jprim in that it specifies more general constraints based on distance, tangency, and coincidence relations between mating geometries.

Format

<Constraint_Mate

    id             =     "integer"

  [ label          =     "string" ]

    i_marker_id    =     "integer"

    j_marker_id    =     "integer"

{

    type           =     "COI_POI_SPH"

    radius         =     "real"

|

    type           =     "DIS_POI_ POI"

    dist           =     "real"

|

    type           =     "DIS_POI_SPH"

    dist           =     "real"

    radius         =     "real"

|

    type           =     "DIS_SPH_SPH"

    dist           =     "real"

    iradius        =     "real"

    jradius        =     "real"

|

    type           =     "TAN_SPH_SPH"

    iradius        =     "real"

    jradius        =     "real"

|

    type           =     "COI_POI_CYL"

    radius         =     "real"

|

    type           =     "DIS_POI_LIN"

    dist           =     "real"

|

    type           =     "DIS_POI_CYL"

    dist           =     "real"

    radius         =     "real"

|

    type           =     "DIS_SPH_LIN"

    dist           =     "real"

    radius         =     "real"

|

    type           =     "DIS_SPH_CYL"

    dist           =     "real"

    iradius        =     "real"

    jradius        =     "real"

|

    type           =     "TAN_SPH_LIN"

    radius         =     "real"

|

    type           =     "TAN_SPH_CYL"

    iradius        =     "real"

    jradius        =     "real"

|

    type           =     "COI_LIN_CYL"

    radius         =     "real"

|

    type           =     "DIS_LIN_LIN"

    dist           =     "real"

|

    type           =     "DIS_LIN_CYL"

    dist           =     "real"

    radius         =     "real"

|

    type           =     "DIS_CYL_CYL"

    dist           =     "real"

    iradius        =     "real"

    jradius        =     "real"

|

    type           =     "TAN_LIN_CYL"

    radius         =     "real"

|

    type           =     "TAN_CYL_CYL"

    iradius        =     "real"

    jradius        =     "real"

|

    type           =     "COI_LIN_PLA"

|

    type           =     "COI_POI_POI"

|

    type           =     "COI_POI_LIN"

|

    type           =     "COI_LIN_LIN"

|

    type           =     "DIS_LIN_PLA"

    dist           =     "real"

|

    type           =     "DIS_PLA_CYL"

    dist           =     "real"

    radius         =     "real"

|

    type           =     "TAN_PLA_CYL"

    radius         =     "real"

|

    type           =     "DIS_SPH_PLA"

    dist           =     "real"

    radius         =     "real"

|

    type           =     "TAN_SPH_PLA"

    radius         =     "real"

|

    type           =     "COI_POI_CON"

    radius         =     "real"

    height         =     "real"

|

    type           =     "DIS_SPH_CON"

    dist           =     "real"

    iradius        =     "real"

    jradius        =     "real"

    height         =     "real"

|

    type           =     "TAN_SPH_CON"

    iradius        =     "real"

    jradius        =     "real"

    height         =     "real"

|

    type           =     "DIS_PLA_CON"

    dist           =     "real"

    radius         =     "real"

    height         =     "real"

|

    type           =     "TAN_PLA_CON"

    radius         =     "real"

    height         =     "real"

}

</Constraint_Mate>

Attributes

id

Element identification number, (integer>0).  This is a number that is unique among all Constraint_MATE elements.

label

The name of the Constraint_MATE element.

i_marker_id

Specifies a Reference_Marker that defines the connection on the first body.  The body may be a rigid body, a flexible body, or a point body.  The parameter is required.

j_marker_id

Specifies a Reference_Marker that defines the connection on the second body.  The body may be a rigid body, a flexible body, or a point body.

type

Specifies the type of mate between i_marker_id and j_marker_id.

type may be one of the following:

 

Type

COI_POI_SPH

DIS_POI_POI

DIS_POI_SPH

DIS_SPH_SPH

TAN_SPH_SPH

COI_POI_CYL

DIS_POI_LIN

DIS_POI_CYL

DIS_SPH_LIN

DIS_SPH_CYL

TAN_SPH_LIN

TAN_SPH_CYL

COI_LIN_CYL

DIS_LIN_LIN

DIS_LIN_CYL

DIS_CYL_CYL

TAN_LIN_CYL

TAN_CYL_CYL

COI_LIN_PLA

COI_POI_POI

COI_POI_LIN

COI_LIN_LIN

DIS_LIN_PLA

DIS_PLA_CYL

TAN_PLA_CYL

DIS_SPH_PLA

TAN_SPH_PLA

COI_POI_CON

DIS_SPH_CON (1)

TAN_SPH_CON (1)

DIS_PLA_CON (3)

TAN_PLA_CON (3)

The parameter is required.  See Comments for more information about these mate types.

# Constraints

1

1

1

1

1

1

1

1

1

1

1

1

3

2

2

2

2

2

2

3

2

4

2

2

2

1

1

1

dist

Distance between the two parts constrained by the DIS_mateconstraint. This option is mate constraint specific.

radius

Radius of the circle/sphere specified in the mate constraint. This option is mate constraint specific.

i radius

Radius of the I part circle/sphere specified in the mate constraint. This option is mate constraint specific.

j radius

Radius of the J part circle/sphere specified in the mate constraint. This option is mate constraint specific.

height

Height of the part specified in the mate constraint. This option is mate constraint specific.

Comments
1.The Constraint_MATE types are written as AAA_BBB_CCC.  AAA can be of the following types:
a.DIS - Distance
b.TAN - Tangent
c.COI - Coincident

BBB and CCC can be of the following types:

a.SPH - Sphere
b.PLA - Plane
c.CYL - Cylinder
d.LIN - Straight line
e.CON - Cone
f.POI - Point
2.The Reference_Marker elements with IDs i_marker_id and j_marker_id belong to the bodies to which BBB and CCC graphics are attached, respectively.
3.For POI and SPH, the Reference_Marker element has origin at the point and sphere center. The orientation of the Reference_Marker does not make any difference.

For PLA, the Reference_Marker origin lies in the plane, and the Z axis is perpendicular to the plane.

For LIN, the Reference_Marker origin lies on the line, and the Z axis is along the line.

For CYL, the Reference_Marker origin is at the center of one end of the cylinder, and its Z axis is along the cylinder axis, pointing at the other end of the cylinder.

For CON, the Reference_Marker origin is at the center of the base of the cone and its Z axis is along the axis, pointing at the other end of the cone.

4.Setting the DIST argument to zero turns a DIS type Constraint_Mate into a TAN type Constraint_Mate.
5.It is important to note that the solver treats the graphic primitives involved in Constraint_Mate as having infinite dimensions, although the graphics themselves may have finite dimensions.
6.The Constraint_Mate element can be used to implement some of the ADAMS GCON element functionality.  See the Examples below.

Example 1

Below is an implementation of a Constraint_Mate of type TAN_PLA_CON:

<Constraint_Mate

    id                  = "301002"

    type                = "TAN_PLA_CON"

    i_marker_id         = "30103071"

    j_marker_id         = "30102030"

    radius              = "600."

    height              = "800."    

 />

The I marker is associated with the plane and the J marker is associated with the cone.

Example 2

The table below shows how one Constraint_Mate element can be used to implement the same constraint as two ADAMS GCON elements:

GCON/1

, I = 5

, FUNCTION = DZ(5,6,6)-0.035000

 

GCON/2

, I = 5

, FUNCTION = UVZ(5)*UVZ(6)

<Constraint_Mate

    id            = "1"

    type          = "TAN_PLA_CYL"

    i_marker_id   = "6"

    j_marker_id   = "5"

    radius        = "0.035"

 />

Alternatively, you may modify the ADM file by commenting out the GCON elements and inserting the MATE element as shown below.

GCON/1

, I = 5

, FUNCTION = DZ(5,6,6)-0.035000

GCON/2

, I = 5

, FUNCTION = UVZ(5)*UVZ(6)

MATE/1

, TAN_PLA_CYL

, I = 6 , J = 5

, RADIUS = 0.035

Note that the MATE element is not supported by ADAMS.

Example 3

Following is an example of a mate of type TAN_PLA_CYL:

<Constraint_Mate

    id          = "301002"

    type        = "TAN_PLA_CYL"

    i_marker_id = "1"

    j_marker_id = "2"

    radius      = "60."

  />

The figure below shows the model configuration. Reference_Marker 1 is on the plane, and has its Z axis perpendicular to the plane. Reference_Marker 2 has its origin on the cylinder base and its Z axis along the cylinder axis.

constraint_mate
hmtoggle_plus1greyPython Format

Model Element

Description

MATE is used to specify general mating constraints between geometric primitives.  MATE differs from JOINT and JPRIM in that it specifies more general constraints based on distance, tangency, and coincidence relations between mating geometries.

Declaration

def MATE(id, LABEL="", I=0, J=0, TYPE="", RADIUS=0.0, IRADIUS=0.0, JRADIUS=0.0, DIST=0.0, HEIGHT=0.0):

Attributes

id

Element identification number (integer>0).  This number is unique among all the MATE elements.

LABEL

The name of the MATE element.

I

Specifies a marker that defines the connection on the first part.  The part may be a rigid, a flexible, or a point mass.  This parameter is required.

J

Specifies a marker that defines the connection on the second part.  The part may be a rigid, a flexible, or a point mass.

TYPE

Specifies the type of mate between I and J.  It could be one of the following shown in first column below, with # indicating the Degree Of Freedoms removed.

Type

COI_POI_SPH

DIS_POI_POI

DIS_POI_SPH

DIS_SPH_SPH

TAN_SPH_SPH

COI_POI_CYL

DIS_POI_LIN

DIS_POI_CYL

DIS_SPH_LIN

DIS_SPH_CYL

TAN_SPH_LIN

TAN_SPH_CYL

COI_LIN_CYL

DIS_LIN_LIN

DIS_LIN_CYL

DIS_CYL_CYL

TAN_LIN_CYL

TAN_CYL_CYL

COI_LIN_PLA

COI_POI_POI

COI_POI_LIN

COI_LIN_LIN

DIS_LIN_PLA

DIS_PLA_CYL

TAN_PLA_CYL

DIS_SPH_PLA

TAN_SPH_PLA

COI_POI_CON

DIS_SPH_CON

TAN_SPH_CON

DIS_PLA_CON

TAN_PLA_CON

The parameter is required.

#

1

1

1

1

1

1

1

1

1

1

1

1

3

2

2

2

2

2

2

3

2

4

2

2

2

1

1

1

1

1

3

3

 

RADIUS

Radius of the circle/sphere specified in the mate constraint.  This option is mate-constraint specific.

IRADIUS

Radius of the I part circle/sphere specified in the mate constraint.  This option is mate-constraint specific.

JRADIUS

Radius of the J part circle/sphere specified in the mate constraint.  This option is mate-constraint specific.

DIST

Distance between the two parts constrained by the DIS.  This option is mate-constraint specific.

HEIGHT

Height of the part specified in the mate constraint.  This option is mate-constraint specific.

Comments

See Constraint_Mate

Example

The first example shows an implementation of MATE element of type TAN_PLA_CON.

MATE(301002,LABEL="new mate element1", I=30103071,J=30102030,TYPE=TAN_PLA_CON,RADIUS=600,HEIGHT=800)

The second example shows an implementation of MATE element of type TAN_PLA_CYL.

MATE(1,LABEL="new mate element2", I=6,J=5,TYPE=TAN_PLA_CYL,RADIUS=0.035)

See Also:

Constraint_Joint

Constraint_PTCV

Model Statements

Command Statements

Functions

Notation and Syntax

*ConstraintMate() (MDL Model statement)