diff --git a/UR5/UR5.output/UR5.sbr b/UR5/UR5.output/UR5.sbr index 76bb318..ea53972 100644 Binary files a/UR5/UR5.output/UR5.sbr and b/UR5/UR5.output/UR5.sbr differ diff --git a/UR5/UR5.output/UR5.sir b/UR5/UR5.output/UR5.sir index 766c4c8..be4dd2b 100644 Binary files a/UR5/UR5.output/UR5.sir and b/UR5/UR5.output/UR5.sir differ diff --git a/planar/planar2.output/planar2.intinfo b/planar/planar2.output/planar2.intinfo index 72bab47..88ba055 100644 --- a/planar/planar2.output/planar2.intinfo +++ b/planar/planar2.output/planar2.intinfo @@ -5,7 +5,7 @@ 0 # nlages 0 # n_add_eq 0 # n_roots - 2.000000 # tend + 4.610000 # tend 1 # integration method 9.9999997E-06 # atolg(1) 1.0000000E-07 # rtolg(1) @@ -112,17 +112,17 @@ 0.0000000E+00 # vipar 14 # N-Values for IntegrationOutputInfos - 20 # nrhs_total - 19 # nrhs_nojac + 480 # nrhs_total + 479 # nrhs_nojac 1 # n jacobi 0 # n mass - 19 # n steps + 479 # n steps 0 # n roots 0 # n error test failors 0 # n convergence test failors 0 # n steps_rejected - 0.6892850 # last step size + 9.9999998E-03 # last step size 1 # last order 0 # rhs_error_flag 0 # integrator_error_flag - 2.000000 # tout required + 4.610000 # tout required diff --git a/planar/planar2.output/planar2.sbr b/planar/planar2.output/planar2.sbr index 3ce0d38..fc8a0cc 100644 Binary files a/planar/planar2.output/planar2.sbr and b/planar/planar2.output/planar2.sbr differ diff --git a/planar/planar2.output/planar2.sir b/planar/planar2.output/planar2.sir index fa933aa..2e415a3 100644 Binary files a/planar/planar2.output/planar2.sir and b/planar/planar2.output/planar2.sir differ diff --git a/planar/planar2.spck b/planar/planar2.spck index a054a29..b9e7573 100644 --- a/planar/planar2.spck +++ b/planar/planar2.spck @@ -57,9 +57,9 @@ prop2d.proj.dir = 2 ! Views !********************************************************************** view.type ( $V_WorkingView ) = 0 ! Projection type -view.pos ( 1 , $V_WorkingView ) = 1.2533285617828369E+00 ! Position -view.pos ( 2 , $V_WorkingView ) = -2.9677152633666992E+00 ! Position -view.pos ( 3 , $V_WorkingView ) = 1.0700625181198120E+00 ! Position +view.pos ( 1 , $V_WorkingView ) = 1.1450420618057251E+00 ! Position +view.pos ( 2 , $V_WorkingView ) = -1.7473140954971313E+00 ! Position +view.pos ( 3 , $V_WorkingView ) = 6.3002502918243408E-01 ! Position view.orient ( 1 , $V_WorkingView ) = 5.7451611757278442E-01 ! Orientation view.orient ( 2 , $V_WorkingView ) = 3.0375838279724121E-02 ! Orientation view.orient ( 3 , $V_WorkingView ) = 2.9174527153372765E-02 ! Orientation @@ -68,7 +68,7 @@ view.angle ( $V_WorkingView ) = 7.85398185 view.fclip.auto ( $V_WorkingView ) = 1 ! Front clipping plane auto view.bclip.auto ( $V_WorkingView ) = 1 ! Back clipping plane auto view.fclip.value ( $V_WorkingView ) = 9.9999997764825821E-03 ! Front clipping plane value -view.bclip.value ( $V_WorkingView ) = 4.1498994827270508E+00 ! Back clipping plane value +view.bclip.value ( $V_WorkingView ) = 3.7554283142089844E+00 ! Back clipping plane value view.rotcenter.type ( $V_WorkingView ) = 0 ! Rotation center type view.rotcenter.adjust ( $V_WorkingView ) = 1 ! Adjust rotation center view.motion.active ( $V_WorkingView ) = 0 ! Camera is moved @@ -253,13 +253,13 @@ prim.par ( 3 , $P_Isys ) = 1.00000000 !********************************************************************** body.m ( $B_Body1 ) = 1.0000000000000000E+00 ! Mass of the Body body.mp ( $B_Body1 ) = 0 ! 0=manual; 1=auto (based on geometry); 2=mass manual, CG & Inertia auto -body.cg.pos ( 1 , $B_Body1 ) = 0.0000000000000000E+00 ! Center of gravity -body.cg.kind ( $B_Body1 ) = 1 ! Kind of CG specification: 0=wrt CG; 1=wrt Marker +body.cg.pos ( 1 , $B_Body1 ) = { 1/2 } ! Center of gravity +body.cg.kind ( $B_Body1 ) = 0 ! Kind of CG specification: 0=wrt CG; 1=wrt Marker body.cg.ref ( $B_Body1 ) = $M_Body1_Top ! Reference Marker for center of gravity body.I.tens ( 1 , 1 , $B_Body1 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 2 , 2 , $B_Body1 ) = 1.0000000000000000E+00 ! Moments of inertia body.I.tens ( 3 , 3 , $B_Body1 ) = 1.0000000000000000E+00 ! Moments of inertia -body.I.kind ( $B_Body1 ) = 1 ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker +body.I.kind ( $B_Body1 ) = -1 ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker body.I.ref ( $B_Body1 ) = $M_Body1_Top ! Inertia Reference Marker body.flx.cosim.job.type ( $B_Body1 ) = 0 ! 0=new run; 1=import co-sim with database results; 2=restart co-sim body.flx.cosim.job.previous ( $B_Body1 ) = '' ! previous abaqus job run @@ -280,6 +280,10 @@ marker.pos ( 1 , $M_Body1_Top ) = $G_DH1.$_a marker.pos ( 2 , $M_Body1_Top ) = 0.0000000000000000E+00 ! Position marker.ang ( 1 , $M_Body1_Top ) = 0.0000000000000000E+00 ! Angles +marker.type ( $M_Body1_GC ) = 2 ! Type +marker.parent ( $M_Body1_GC ) = $B_Body1 ! Body +marker.pos ( 1 , $M_Body1_GC ) = { $G_DH1.$_a/2 } ! Position + joint.from ( $J_Body1 ) = $M_Isys ! From Marker joint.to ( $J_Body1 ) = $M_Body1_BRF ! To Marker joint.type ( $J_Body1 ) = 29 ! Type @@ -351,10 +355,108 @@ prim.par ( 10 , $P_Body1_Link ) = 0.00000000 prim.par ( 11 , $P_Body1_Link ) = 0.0000000000000000E+00 ! [-] Close geometry with +body.m ( $B_Body2 ) = 1.0000000000000000E+00 ! Mass of the Body +body.mp ( $B_Body2 ) = 0 ! 0=manual; 1=auto (based on geometry); 2=mass manual, CG & Inertia auto +body.cg.pos ( 1 , $B_Body2 ) = { 1/2 } ! Center of gravity +body.cg.kind ( $B_Body2 ) = 0 ! Kind of CG specification: 0=wrt CG; 1=wrt Marker +body.cg.ref ( $B_Body2 ) = $M_Body2_Top ! Reference Marker for center of gravity +body.I.tens ( 1 , 1 , $B_Body2 ) = 1.0000000000000000E+00 ! Moments of inertia +body.I.tens ( 2 , 2 , $B_Body2 ) = 1.0000000000000000E+00 ! Moments of inertia +body.I.tens ( 3 , 3 , $B_Body2 ) = 1.0000000000000000E+00 ! Moments of inertia +body.I.kind ( $B_Body2 ) = -1 ! Kind of I-tensor specification: -1=wrt CG; 0=wrt BRF; 1=wrt Marker +body.I.ref ( $B_Body2 ) = $M_Body2_Top ! Inertia Reference Marker +body.flx.cosim.job.type ( $B_Body2 ) = 0 ! 0=new run; 1=import co-sim with database results; 2=restart co-sim +body.flx.cosim.job.previous ( $B_Body2 ) = '' ! previous abaqus job run +body.flx.cosim.job.cmdoptions ( $B_Body2 ) = '' ! additional command line options for the abaqus run +body.flx.cosim.job.solver ( $B_Body2 ) = 0 ! 0=Abaqus/Explicit; 1=Abaqus/Standard + +marker.type ( $M_Body2_BRF ) = 1 ! Type +marker.parent ( $M_Body2_BRF ) = $B_Body2 ! Body +marker.flx.type ( $M_Body2_BRF ) = 4 ! Flexible type + +marker.type ( $M_Body2_Top ) = 2 ! Type +marker.parent ( $M_Body2_Top ) = $B_Body2 ! Body +marker.pos ( 1 , $M_Body2_Top ) = $G_DH1.$_a ! Position +marker.pos ( 2 , $M_Body2_Top ) = 0.0000000000000000E+00 ! Position +marker.ang ( 1 , $M_Body2_Top ) = 0.0000000000000000E+00 ! Angles + +marker.type ( $M_Body2_GC ) = 2 ! Type +marker.parent ( $M_Body2_GC ) = $B_Body2 ! Body +marker.pos ( 1 , $M_Body2_GC ) = { $G_DH1.$_a/2 } ! Position + +joint.from ( $J_Body2 ) = $M_Body1_Top ! From Marker +joint.to ( $J_Body2 ) = $M_Body2_BRF ! To Marker +joint.type ( $J_Body2 ) = 29 ! Type +joint.st.vel ( 1 , $J_Body2 ) = 0.0000000000000000E+00 ! Velocity +joint.par ( 1 , $J_Body2 ) = 3.0000000000000000E+00 ! [-] Axis of motion +joint.par ( 2 , $J_Body2 ) = 0.0000000000000000E+00 ! [rad] Angle at t = 0 +joint.par ( 3 , $J_Body2 ) = -1.0000000000000000E+00 ! [rad] Amplitude +joint.par ( 4 , $J_Body2 ) = { 2*pi } ! [rad/s] Frequency +joint.par ( 5 , $J_Body2 ) = 0.0000000000000000E+00 ! [rad] Phase + +prim.type ( $P_Body2_Joint ) = 2 ! Type +prim.ref ( $P_Body2_Joint ) = $M_Body2_BRF ! Reference Marker +prim.ang ( 1 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! Angles +prim.ang ( 2 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! Angles +prim.ang ( 3 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! Angles +prim.color.r ( 1 , $P_Body2_Joint ) = 3.0000000000000000E+01 ! Colors (red component) +prim.color.r ( 2 , $P_Body2_Joint ) = 1.2800000000000000E+02 ! Colors (red component) +prim.color.g ( 1 , $P_Body2_Joint ) = 1.4400000000000000E+02 ! Colors (green component) +prim.color.g ( 2 , $P_Body2_Joint ) = 1.2800000000000000E+02 ! Colors (green component) +prim.color.b ( 1 , $P_Body2_Joint ) = 2.5500000000000000E+02 ! Colors (blue component) +prim.color.b ( 2 , $P_Body2_Joint ) = 1.2800000000000000E+02 ! Colors (blue component) +prim.color.t ( 1 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! Colors (transparency component) +prim.color.t ( 2 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! Colors (transparency component) +prim.transparency ( $P_Body2_Joint ) = 2.5000000000000000E-01 ! Transparency +prim.mp.dens.solid ( $P_Body2_Joint ) = 7.8500000000000000E+03 ! Density +prim.par ( 2 , $P_Body2_Joint ) = 4.0000000000000001E-02 ! [m] Height +prim.par ( 3 , $P_Body2_Joint ) = 4.0000000000000001E-02 ! [m] Outer diameter +prim.par ( 4 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! [m] Inner diameter +prim.par ( 5 , $P_Body2_Joint ) = 1.2000000000000000E+01 ! [-] Number of planes +prim.par ( 6 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! [-] Number of highlighted planes +prim.par ( 7 , $P_Body2_Joint ) = 1.0000000000000000E+00 ! [-] Show bottom cap +prim.par ( 8 , $P_Body2_Joint ) = 1.0000000000000000E+00 ! [-] Show top cap +prim.par ( 9 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! [rad] Start angle +prim.par ( 10 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! [rad] Delta angle +prim.par ( 11 , $P_Body2_Joint ) = 0.0000000000000000E+00 ! [-] Close geometry with + +prim.type ( $P_Body2_Link ) = 2 ! Type +prim.ref ( $P_Body2_Link ) = $M_Body2_BRF ! Reference Marker +prim.pos ( 1 , $P_Body2_Link ) = { $G_DH2.$_a/2 } ! Position +prim.pos ( 2 , $P_Body2_Link ) = 0.0000000000000000E+00 ! Position +prim.pos ( 3 , $P_Body2_Link ) = 0.0000000000000000E+00 ! Position +prim.ang ( 1 , $P_Body2_Link ) = 0.0000000000000000E+00 ! Angles +prim.ang ( 2 , $P_Body2_Link ) = 0.0000000000000000E+00 ! Angles +prim.ang ( 3 , $P_Body2_Link ) = { 90 deg } ! Angles +prim.color.r ( 1 , $P_Body2_Link ) = 1.2800000000000000E+02 ! Colors (red component) +prim.color.r ( 2 , $P_Body2_Link ) = 1.2800000000000000E+02 ! Colors (red component) +prim.color.g ( 1 , $P_Body2_Link ) = 1.2800000000000000E+02 ! Colors (green component) +prim.color.g ( 2 , $P_Body2_Link ) = 1.2800000000000000E+02 ! Colors (green component) +prim.color.b ( 1 , $P_Body2_Link ) = 1.2800000000000000E+02 ! Colors (blue component) +prim.color.b ( 2 , $P_Body2_Link ) = 1.2800000000000000E+02 ! Colors (blue component) +prim.color.t ( 1 , $P_Body2_Link ) = 0.0000000000000000E+00 ! Colors (transparency component) +prim.color.t ( 2 , $P_Body2_Link ) = 0.0000000000000000E+00 ! Colors (transparency component) +prim.par ( 2 , $P_Body2_Link ) = 1.0000000000000000E+00 ! [m] Height +prim.par ( 3 , $P_Body2_Link ) = 2.9999999999999999E-02 ! [m] Outer diameter +prim.par ( 4 , $P_Body2_Link ) = 0.0000000000000000E+00 ! [m] Inner diameter +prim.par ( 5 , $P_Body2_Link ) = 1.2000000000000000E+01 ! [-] Number of planes +prim.par ( 6 , $P_Body2_Link ) = 0.0000000000000000E+00 ! [-] Number of highlighted planes +prim.par ( 7 , $P_Body2_Link ) = 1.0000000000000000E+00 ! [-] Show bottom cap +prim.par ( 8 , $P_Body2_Link ) = 1.0000000000000000E+00 ! [-] Show top cap +prim.par ( 9 , $P_Body2_Link ) = 0.0000000000000000E+00 ! [rad] Start angle +prim.par ( 10 , $P_Body2_Link ) = 0.0000000000000000E+00 ! [rad] Delta angle +prim.par ( 11 , $P_Body2_Link ) = 0.0000000000000000E+00 ! [-] Close geometry with + + !********************************************************************** ! Sensors !********************************************************************** -sensor.from ( $S_end ) = $M_Isys ! From Marker -sensor.to ( $S_end ) = $M_Body1_Top ! To Marker +sensor.from ( $S_1 ) = $M_Isys ! From Marker +sensor.to ( $S_1 ) = $M_Body1_GC ! To Marker +sensor.kind ( $S_1 ) = 1 ! Coordinate Ref. Marker +sensor.ref ( $S_1 ) = $M_Isys ! Reference Marker + +sensor.from ( $S_2 ) = $M_Isys ! From Marker +sensor.to ( $S_2 ) = $M_Body2_GC ! To Marker