This information is part of the Modelica Standard Library maintained by the Modelica Association.

This is a simple kinematic loop consisting of 6 revolute joints, 1 prismatic joint and 4 bars that is often used as basic constructing unit in mechanisms. This example demonstrates that usually no particular knowledge of the user is needed to handle kinematic loops. Just connect the joints and bodies together according to the real system. In particular no cut-joints or a spanning tree has to be determined. In this case, the initial condition of the angular velocity of revolute joint j1 is set to 300 deg/s in order to drive this loop.

j1_phi	Type: Angle (rad) Description: angle of revolute joint j1
j2_s	Type: Position (m) Description: distance of prismatic joint j2
j1_w	Type: AngularVelocity (rad/s) Description: axis speed of revolute joint j1
j2_v	Type: Velocity (m/s) Description: axis velocity of prismatic joint j2