CylindricalCylindrical joint (2 degrees-of-freedom, 4 potential states) |
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Diagram
Information
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Joint where frame_b rotates around and translates along axis n which is fixed in frame_a. The two frames coincide when "phi=revolute.phi=0" and "s=prismatic.s=0". This joint has the following potential states;
- The relative angle phi [rad] around axis n,
- the relative distance s [m] along axis n,
- the relative angular velocity w [rad/s] (= der(phi)) and
- the relative velocity v [m/s] (= der(s)).
They are used as candidates for automatic selection of states from the tool. This may be enforced by setting "stateSelect=StateSelect.always" in the Advanced menu. The states are usually selected automatically. In certain situations, especially when closed kinematic loops are present, it might be slightly more efficient, when using the "StateSelect.always" setting.
In the following figure the animation of a cylindrical joint is shown. The light blue coordinate system is frame_a and the dark blue coordinate system is frame_b of the joint. The black arrow is parameter vector "n" defining the cylinder axis (here: n = {0,0,1}).
Parameters (4)
| animation |
Value: true Type: Boolean Description: = true, if animation shall be enabled (show cylinder) |
|---|---|
| n |
Value: {1, 0, 0} Type: Axis Description: Cylinder axis resolved in frame_a (= same as in frame_b) |
| cylinderDiameter |
Value: world.defaultJointWidth Type: Distance (m) Description: Diameter of cylinder |
| stateSelect |
Value: StateSelect.prefer Type: StateSelect Description: Priority to use joint coordinates (phi, s, w, v) as states |
Inputs (2)
| cylinderColor |
Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.JointColor Type: Color Description: Color of cylinder |
|---|---|
| specularCoefficient |
Default Value: world.defaultSpecularCoefficient Type: SpecularCoefficient Description: Reflection of ambient light (= 0: light is completely absorbed) |
