Fourbar_analyticOne kinematic loop with four bars (with JointSSP joint; analytic solution of nonlinear algebraic loop) 
This information is part of the Modelica Standard Library maintained by the Modelica Association.
This is a third version of the "fourbar" mechanism, see figure:
In this case the three revolute joints on the left topside and the two revolute joints on the right top side have been replaced by the assembly joint Joints.Assemblies.JointSSP which consists of two spherical joints and one prismatic joint. Since JointSSP solves the nonlinear constraint equation internally analytically, no nonlinear equation appears any more and a Modelica translator can transform the system into state space form without solving a system of equations. For more details, see MultiBody.UsersGuide.Tutorial.LoopStructures.AnalyticLoopHandling.
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 
world 
Type: World 


j1 
Type: Revolute 

b1 
Type: BodyCylinder 

b3 
Type: FixedTranslation 

jointSSP 
Type: JointSSP 

b2 
Type: BodyCylinder 