Set the torque directly on the driven wheel

[Guli Meng]

Hi Developers:

I want to set the torque directly on the driven wheel or axle rather than using the powertrain, how could I achieve this, thanks!

Meng GL

[Luning Fang]

Hello Meng,

You can create a ChLinkMotorRotationTorque class and apply it to the wheel/axle and a ground body. See demos/mbs/demo_MBS_motors.cpp for example.

If you are asking about how to apply torque without creating a link, you can use this function: body->Accumulate_torque(), which applies the torque directly on the wheel/axle, see documentation here, this one is handy to modify during the time integration loop. Some demos on external applied force/torque are demos/mbs/demo_MBS_pendulum.cpp and demos/core/demo_CH_powertrain.cpp.

Thank you,

Luning

[Radu Serban]

Hi Meng,

 

Please see the reply I wrote to a similar question:

https://groups.google.com/g/projectchrono/c/g_fB6X5vqKY/m/mcdsVRtgAgAJ

 

--Radu

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