Specifications

200
The model is primarily divided into three folders (a folder is a container of different objects much like a
directory can contain files) as shown above. In fact, the structure contains a few more parts that we will get
to later, but the elements shown above are the more important.
In the middle you see the "HumanModel". This is where we keep the body parts that we are importing from
the BRep part of the repository. This folder contains objects such as segments (bones), joints, muscles, and
ligaments. We also keep information about the scaling of the model in this folder.
It is just as important to notice what this folder does not contain: movement drivers, forces, and joints
between the model and the environment. The external hardware parts of the models such as chairs,
bicycles, tools, or, in the present case, a pedal are stored in the Environment.
To link the body model together with the environment we create a "ModelEnvironmentConnection" folder
typically containing the joint between the objects of the two former folders.
The "Mannequin" part of the model is used for specification of postures, and we shall return to this issue in
more detail later.
Without further ado, let us start building the foot pedal model. The toolbar button "New Main" will generate
an empty model that looks much like this (we have changed the name of the MyModel folder to MyPedal):
// This model demonstrates the construction of a foot pedal example
Main = {
// The actual body model goes in this folder
AnyFolder MyPedal = {
// Global Reference Frame
AnyFixedRefFrame GlobalRef = {
}; // Global reference frame
}; // MyPedal
// The study: Operations to be performed on the model
AnyBodyStudy MyStudy = {
AnyFolder &Model = .MyPedal;
RecruitmentSolver = MinMaxSimplex;
Gravity = {0.0, -9.81, 0.0};
};
}; // Main
The comments have been adapted to reflect the fact that we are going to construct a pedal example. Please
press the save button (or Ctrl-S) and save the model in a new directory under ARep, for instance using the
file name Pedal.Main.any. Notice that the use of the "Main" suffix is a good way to indicate that this is the
starting point of the pedal application.