Model Element

Description

Reference_ParamSurface defines a parametric surface element.  A parametric surface is defined in terms of two free parameters: u and v.  Referring to the image below, assume a surface S is defined with respect to a coordinate system OXYZ.  The coordinates of any arbitrary point P on the surface, as measured in OXYZ, can be represented uniquely in terms of the two free parameters.  The functions f(u,v), g(u,v), and h(u,v) define the x-, y- and z-coordinates of P.  The extent of the surface is governed by the maximum and minimum values of the surface.  Such a representation is defined as a parametric representation for a surface.

A parametric surface

Parametric surfaces may be open or closed.  Let u be fixed to an arbitrary legal value Uo.  If the curves f(Uo,v), g(Uo,v), and h(Uo,v) generated when v is varied from its minimum to maximum value are closed curves, then the surface is said to be closed in the v domain.  Similarly, let v be fixed to an arbitrary legal value Vo.  If the curves f(u,Vo), g(u,Vo), and h(u,Vo) - generated when u is varied from its minimum to maximum value - are closed curves, then the surface is said to be closed in u domain.

Parametric surfaces are used to model higher pair constraints in MotionSolve.

Only analytical representations of f(), g(), and h() are supported.  These functions are defined in the user defined subroutine SURSUB.  Construction of parametric surfaces from data points or import them from CAD packages is not supported at this time.

Reference_ParamSurface is only allowed to be defined on rigid bodies, not flex bodies.

Format

< Reference_ParamSurface

    id                    = "integer"

  [ label                 = "string" ]

    is_u_closed           = { "TRUE" | "FALSE" }

    is_v_closed           = { "TRUE" | "FALSE" }

    u_start               = "real"

    u_end                 = "real"

    v_start               = "real"

    v_end                 = "real"

    type                  = "USERSUB"

  {

    usrsub_param_string   = "USER( [[par_1][, ...][, par_n]] )"

    usrsub_dll_name       = "valid_path_name"

    usrsub_fnc_name       = "custom_fnc_name" >

  |

      script_name         = valid_path_name

      interpreter         = "PYTHON" | "MATLAB"

      usrsub_param_string = "USER( [[par_1 [, ...][,par_n]] )"

      usrsub_fnc_name     = "custom_fnc_name" >    

  }

 </Reference_ParamSurface>

Attributes

id

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

label

The name of the Reference_ParamSurface element.

type

Must be USERSUB.  USERSUB indicates that the surface properties are specified in a user defined subroutine, SURSUB.  The parameters usrsub_param_string and usrsub_dll_name are used to provide more information about the user defined subroutine.

usrsub_param_string

The list of parameters that are passed from the data file to the user defined SURSUB.  Use this keyword only when type = USERSUB is selected.

usrsub_dll_name

Specifies the path and name of the DLL or shared library containing the user subroutine.  MotionSolve uses this information to load the user subroutine SURSUB in the DLL at run time.

usrsub_fnc_name

Specifies an alternative name for the user subroutine SURSUB.

script_name

Specifies the path and name of the user written script that contains the routine specified by usrsub_fnc_name.

interpreter

Specifies the interpreted language that the user script is written in. Valid choices are MATLAB or PYTHON.

is_u_closed

Select from TRUE or FALSE.

If the surface is closed in the U parametric space, select TRUE.

If the surface is open in the U parametric space, select FALSE.

is_v_closed

Select from TRUE or FALSE.

If the surface is closed in the V parametric space, select TRUE.

If the surface is open in the V parametric space, select FALSE.

u_start

The minimum value of U. u_start <u_end.

u_end

The maximum value of U. u_start <u_end.

v_start

The minimum value of V. v_start <v_end.

v_end

The maximum value of V. v_start <v_end.

Comments

Example

The following example defines a cylindrical surface in parametric space.  You could later define a point-to-surface constraint which requires that a point on one body be constrained to move on the cylindrical surface (shown below) defined on a second rigid body.  The cylindrical surface is defined in parametric space as:

x = r * Cos(u)

y = r * Sin(u)

z = v

In this example, the parameter u defines the angle of rotation about the cylinder axis as one traverses along the cylindrical surface at a fixed value of v.  The parameter v defines the movement along the axis of the cylinder.

Notice that the surface is open in both the u and v space.

Let the radius of the cylinder be 17 mm, and the length of the cylinder be 300 mm.  Let the reference coordinate system for the surface be placed at the center of volume of the surface.

The statement defining the cylinder described above is:

<Reference_ParamSurface

    id                  = "555"

    is_u_closed         = "FALSE"

    is_v_closed         = "FALSE"

    u_start             = "0"

    u_end               = "3.14159"

    v_start             = "-150."

    v_end               = "150"

    usrsub_param_string = "USER(17,150)"

    usrsub_dll_name     = "/staff/gates/test/surface/surface.dll" >

 </Reference_ParamSurface>

Model Element

Description

SURFACE defines a parametric surface element.  For more information on the definition of a parametric surface, please see Reference_ParamSurface.

Declaration

def SURFACE(id, LABEL="", FUNCTION="", UCLOSED=False, VCLOSED=False, MINPAR=[], MAXPAR=[], ROUTINE="", INTERPRETER="", SCRIPT=""):

Attributes

id

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

LABEL

The name of the SURFACE element.

FUNCTION

The list of parameters that are passed from the data file to the user defined SURSUB.

UCLOSED

Select from TRUE or FALSE.
If the surface is closed in the U parametric space, select TRUE.
If the surface is open in the U parametric space, select FALSE.

VCLOSED

Select from TRUE or FALSE.
If the surface is closed in the V parametric space, select TRUE.
If the surface is open in the V parametric space, select FALSE.

MINPAR

Specify the list of minimum value of U and V.  Note that MINPAR < MAXPAR.

MAXPAR

Specify the list of maximum value of U and V.  Note that MINPAR < MAXPAR.

ROUTINE

Specifies an alternative name for the user subroutine SURSUB.

INTERPRETER

Specifies the interpreted language that the user script is written in.  Valid choices are MATLAB or PYTHON.

SCRIPT

Specifies the path and name of the user written script that contains the routine.

Comments

See Reference_ParamSurface

Example

The example below demonstrates how a SURFACE can be defined.

SURFACE(555, FUNCTION="USER(17,150)", UCLOSED=False, VCLOSED=False, MINPAR=[0,-150], MAXPAR=[3.14159,150], ROUTINE="/staff/gates/test/surface/surface.dll")