Name

Description

Modelica ID

enable contact

Optional boolean input; enable contact

enable_contact

${\mathrm{port}}_1$

Connection to tori

port_1

${\mathrm{port}}_2$

Connection to rectangles

port_2

Name

Default

Units

Description

Modelica ID

active

Always Active

Selects contact activation

active

on/off

Start Time

Selects start/stop times

onoff

$T_{\mathrm{on}}$

$0$

$s$

On time

Ton

$T_{\mathrm{off}}$

$0$

$s$

Off time

Toff

use record

$\mathrm{false}$

Use contact properties record

useRecord

mode

Linear spring and damper

Contact force formulation

mode

$c$

${10}^4$

$\frac{N}{m}$

Spring constant (c>0)

c

$d$

$0$

$N\frac{s}{m}$

Damping constant

d

$c_n$

${10}^4$

Nonlinear spring constant (cn>0)

cn

$d_n$

$0$

Nonlinear damping constant

dn

$n$

$1.5$

Nonlinear elastic force exponent

n

$p$

$n$

Nonlinear damping force exponent

p

$q$

$1$

Nonlinear damping force exponent

q

$\mathrm{\mu }$

$0$

Coefficient of friction

mu

$k_{\mathrm{\mu }}$

$1$

Smoothness coefficient for sliding friction

kTANH

$\mathrm{\epsilon }$

$1.\times {10}^{\mathrm{-6}}$

Minimum length of vectors for normalization

eps

contact properties

Name of contact property record component

conparams

$n_{\mathrm{torus}}$

$1$

Number of tori

nTorus

use torus to torus contact

$\mathrm{false}$

True (checked) means model contacts between tori

useTorusTorusContact

$n_{\mathrm{rectangle}}$

$1$

Number of rectangles

nRectangle

$k_{\mathrm{edge}}$

$1000000000$

Smoothness coefficient for contact behavior near edges

Kedge

$k_{\mathrm{tol}}$

$0.001$

Tolerance for detecting the special case when the torus is parallel to the plane

Ktol

$k_{\mathrm{conv}}$

$1.\times {10}^{\mathrm{-9}}$

Error control used in iterative contact point calculations

Kconv

$n_{\mathrm{iter}}$

$1000$

Maximum number of iterations

Niter