File size: 11,192 Bytes
528457d |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 |
from sympy.core.backend import sympify
from sympy.physics.vector import Point, ReferenceFrame, Dyadic
from sympy.utilities.exceptions import sympy_deprecation_warning
__all__ = ['RigidBody']
class RigidBody:
"""An idealized rigid body.
Explanation
===========
This is essentially a container which holds the various components which
describe a rigid body: a name, mass, center of mass, reference frame, and
inertia.
All of these need to be supplied on creation, but can be changed
afterwards.
Attributes
==========
name : string
The body's name.
masscenter : Point
The point which represents the center of mass of the rigid body.
frame : ReferenceFrame
The ReferenceFrame which the rigid body is fixed in.
mass : Sympifyable
The body's mass.
inertia : (Dyadic, Point)
The body's inertia about a point; stored in a tuple as shown above.
Examples
========
>>> from sympy import Symbol
>>> from sympy.physics.mechanics import ReferenceFrame, Point, RigidBody
>>> from sympy.physics.mechanics import outer
>>> m = Symbol('m')
>>> A = ReferenceFrame('A')
>>> P = Point('P')
>>> I = outer (A.x, A.x)
>>> inertia_tuple = (I, P)
>>> B = RigidBody('B', P, A, m, inertia_tuple)
>>> # Or you could change them afterwards
>>> m2 = Symbol('m2')
>>> B.mass = m2
"""
def __init__(self, name, masscenter, frame, mass, inertia):
if not isinstance(name, str):
raise TypeError('Supply a valid name.')
self._name = name
self.masscenter = masscenter
self.mass = mass
self.frame = frame
self.inertia = inertia
self.potential_energy = 0
def __str__(self):
return self._name
def __repr__(self):
return self.__str__()
@property
def frame(self):
"""The ReferenceFrame fixed to the body."""
return self._frame
@frame.setter
def frame(self, F):
if not isinstance(F, ReferenceFrame):
raise TypeError("RigidBody frame must be a ReferenceFrame object.")
self._frame = F
@property
def masscenter(self):
"""The body's center of mass."""
return self._masscenter
@masscenter.setter
def masscenter(self, p):
if not isinstance(p, Point):
raise TypeError("RigidBody center of mass must be a Point object.")
self._masscenter = p
@property
def mass(self):
"""The body's mass."""
return self._mass
@mass.setter
def mass(self, m):
self._mass = sympify(m)
@property
def inertia(self):
"""The body's inertia about a point; stored as (Dyadic, Point)."""
return (self._inertia, self._inertia_point)
@inertia.setter
def inertia(self, I):
if not isinstance(I[0], Dyadic):
raise TypeError("RigidBody inertia must be a Dyadic object.")
if not isinstance(I[1], Point):
raise TypeError("RigidBody inertia must be about a Point.")
self._inertia = I[0]
self._inertia_point = I[1]
# have I S/O, want I S/S*
# I S/O = I S/S* + I S*/O; I S/S* = I S/O - I S*/O
# I_S/S* = I_S/O - I_S*/O
from sympy.physics.mechanics.functions import inertia_of_point_mass
I_Ss_O = inertia_of_point_mass(self.mass,
self.masscenter.pos_from(I[1]),
self.frame)
self._central_inertia = I[0] - I_Ss_O
@property
def central_inertia(self):
"""The body's central inertia dyadic."""
return self._central_inertia
@central_inertia.setter
def central_inertia(self, I):
if not isinstance(I, Dyadic):
raise TypeError("RigidBody inertia must be a Dyadic object.")
self.inertia = (I, self.masscenter)
def linear_momentum(self, frame):
""" Linear momentum of the rigid body.
Explanation
===========
The linear momentum L, of a rigid body B, with respect to frame N is
given by:
L = M * v*
where M is the mass of the rigid body and v* is the velocity of
the mass center of B in the frame, N.
Parameters
==========
frame : ReferenceFrame
The frame in which linear momentum is desired.
Examples
========
>>> from sympy.physics.mechanics import Point, ReferenceFrame, outer
>>> from sympy.physics.mechanics import RigidBody, dynamicsymbols
>>> from sympy.physics.vector import init_vprinting
>>> init_vprinting(pretty_print=False)
>>> M, v = dynamicsymbols('M v')
>>> N = ReferenceFrame('N')
>>> P = Point('P')
>>> P.set_vel(N, v * N.x)
>>> I = outer (N.x, N.x)
>>> Inertia_tuple = (I, P)
>>> B = RigidBody('B', P, N, M, Inertia_tuple)
>>> B.linear_momentum(N)
M*v*N.x
"""
return self.mass * self.masscenter.vel(frame)
def angular_momentum(self, point, frame):
"""Returns the angular momentum of the rigid body about a point in the
given frame.
Explanation
===========
The angular momentum H of a rigid body B about some point O in a frame
N is given by:
``H = dot(I, w) + cross(r, M * v)``
where I is the central inertia dyadic of B, w is the angular velocity
of body B in the frame, N, r is the position vector from point O to the
mass center of B, and v is the velocity of the mass center in the
frame, N.
Parameters
==========
point : Point
The point about which angular momentum is desired.
frame : ReferenceFrame
The frame in which angular momentum is desired.
Examples
========
>>> from sympy.physics.mechanics import Point, ReferenceFrame, outer
>>> from sympy.physics.mechanics import RigidBody, dynamicsymbols
>>> from sympy.physics.vector import init_vprinting
>>> init_vprinting(pretty_print=False)
>>> M, v, r, omega = dynamicsymbols('M v r omega')
>>> N = ReferenceFrame('N')
>>> b = ReferenceFrame('b')
>>> b.set_ang_vel(N, omega * b.x)
>>> P = Point('P')
>>> P.set_vel(N, 1 * N.x)
>>> I = outer(b.x, b.x)
>>> B = RigidBody('B', P, b, M, (I, P))
>>> B.angular_momentum(P, N)
omega*b.x
"""
I = self.central_inertia
w = self.frame.ang_vel_in(frame)
m = self.mass
r = self.masscenter.pos_from(point)
v = self.masscenter.vel(frame)
return I.dot(w) + r.cross(m * v)
def kinetic_energy(self, frame):
"""Kinetic energy of the rigid body.
Explanation
===========
The kinetic energy, T, of a rigid body, B, is given by:
``T = 1/2 * (dot(dot(I, w), w) + dot(m * v, v))``
where I and m are the central inertia dyadic and mass of rigid body B,
respectively, omega is the body's angular velocity and v is the
velocity of the body's mass center in the supplied ReferenceFrame.
Parameters
==========
frame : ReferenceFrame
The RigidBody's angular velocity and the velocity of it's mass
center are typically defined with respect to an inertial frame but
any relevant frame in which the velocities are known can be supplied.
Examples
========
>>> from sympy.physics.mechanics import Point, ReferenceFrame, outer
>>> from sympy.physics.mechanics import RigidBody
>>> from sympy import symbols
>>> M, v, r, omega = symbols('M v r omega')
>>> N = ReferenceFrame('N')
>>> b = ReferenceFrame('b')
>>> b.set_ang_vel(N, omega * b.x)
>>> P = Point('P')
>>> P.set_vel(N, v * N.x)
>>> I = outer (b.x, b.x)
>>> inertia_tuple = (I, P)
>>> B = RigidBody('B', P, b, M, inertia_tuple)
>>> B.kinetic_energy(N)
M*v**2/2 + omega**2/2
"""
rotational_KE = (self.frame.ang_vel_in(frame) & (self.central_inertia &
self.frame.ang_vel_in(frame)) / sympify(2))
translational_KE = (self.mass * (self.masscenter.vel(frame) &
self.masscenter.vel(frame)) / sympify(2))
return rotational_KE + translational_KE
@property
def potential_energy(self):
"""The potential energy of the RigidBody.
Examples
========
>>> from sympy.physics.mechanics import RigidBody, Point, outer, ReferenceFrame
>>> from sympy import symbols
>>> M, g, h = symbols('M g h')
>>> b = ReferenceFrame('b')
>>> P = Point('P')
>>> I = outer (b.x, b.x)
>>> Inertia_tuple = (I, P)
>>> B = RigidBody('B', P, b, M, Inertia_tuple)
>>> B.potential_energy = M * g * h
>>> B.potential_energy
M*g*h
"""
return self._pe
@potential_energy.setter
def potential_energy(self, scalar):
"""Used to set the potential energy of this RigidBody.
Parameters
==========
scalar: Sympifyable
The potential energy (a scalar) of the RigidBody.
Examples
========
>>> from sympy.physics.mechanics import Point, outer
>>> from sympy.physics.mechanics import RigidBody, ReferenceFrame
>>> from sympy import symbols
>>> b = ReferenceFrame('b')
>>> M, g, h = symbols('M g h')
>>> P = Point('P')
>>> I = outer (b.x, b.x)
>>> Inertia_tuple = (I, P)
>>> B = RigidBody('B', P, b, M, Inertia_tuple)
>>> B.potential_energy = M * g * h
"""
self._pe = sympify(scalar)
def set_potential_energy(self, scalar):
sympy_deprecation_warning(
"""
The sympy.physics.mechanics.RigidBody.set_potential_energy()
method is deprecated. Instead use
B.potential_energy = scalar
""",
deprecated_since_version="1.5",
active_deprecations_target="deprecated-set-potential-energy",
)
self.potential_energy = scalar
def parallel_axis(self, point, frame=None):
"""Returns the inertia dyadic of the body with respect to another
point.
Parameters
==========
point : sympy.physics.vector.Point
The point to express the inertia dyadic about.
frame : sympy.physics.vector.ReferenceFrame
The reference frame used to construct the dyadic.
Returns
=======
inertia : sympy.physics.vector.Dyadic
The inertia dyadic of the rigid body expressed about the provided
point.
"""
# circular import issue
from sympy.physics.mechanics.functions import inertia_of_point_mass
if frame is None:
frame = self.frame
return self.central_inertia + inertia_of_point_mass(
self.mass, self.masscenter.pos_from(point), frame)
|