PrismaticWithLengthConstraintPrismatic joint where the translational distance is computed from a length constraint (1 degreeoffreedom, no potential state) 
This information is part of the Modelica Standard Library maintained by the Modelica Association.
Joint where frame_b is translated along axis n which is fixed in frame_a. The two frames coincide when "s + s_offset = 0", where "s_offset" is a parameter with a zero default and "s" is the relative distance.
This variant of the prismatic joint is designed to work together with a length constraint in a kinematic loop. This means that the relative distance "s" of the joint is computed such that the length constraint is fulfilled.
Usually, this joint should not be used by a user of the MultiBody library. It is only provided to builtup the Modelica.Mechanics.MultiBody.Joints.Assemblies.JointXYZ joints.
In releases before version 3.0 of the Modelica Standard Library, it was possible to activate the force projection equation (= cutforce projected to the translation axis must be identical to the driving force of flange axis) via parameter axisForceBalance. This is no longer possible, since otherwise this model would not be "balanced" (= same number of unknowns as equations). Instead, when using this model in version 3.0 and later versions, the force in the length constraint component (Joints.SphericalSpherical or Joints.UniversalSpherical) must be calculated such that the driving force in direction of the translation axis is (RC shall be the name of the instance of PrismaticWithLengthConstraint):
0 = RC.axis.f + RC.e*RC.frame_b.f;
If this equation is used, usually the force in the length constraint and the second derivative of the prismatic distance will be part of a linear algebraic system of equations. In some cases it is possible to solve this system of equations locally, i.e., provide the rod force directly as function of the prismatic constraint force. In any case, this projection equation or an equivalent one has to be provided via variable "constraintResidue" in the "Advanced" menu of "Joints.SphericalSpherical" or "Joints.UniversalSpherical".
animation 
Value: true Type: Boolean Description: = true, if animation shall be enabled 

length 
Value: Type: Position (m) Description: Fixed length of length constraint 
n 
Value: {1, 0, 0} Type: Axis Description: Axis of translation resolved in frame_a (= same as in frame_b) 
s_offset 
Value: 0 Type: Position (m) Description: Relative distance offset (distance between frame_a and frame_b = s(t) + s_offset) 
s_guess 
Value: 0 Type: Position (m) Description: Select the configuration such that at initial time s(t0)s_guess is minimal 
boxWidthDirection 
Value: {0, 1, 0} Type: Axis Description: Vector in width direction of box, resolved in frame_a 
boxWidth 
Value: world.defaultJointWidth Type: Distance (m) Description: Width of prismatic joint box 
boxHeight 
Value: boxWidth Type: Distance (m) Description: Height of prismatic joint box 
positiveBranch 
Value: Type: Boolean Description: Selection of one of the two solutions of the nonlinear constraint equation 
e 
Value: Modelica.Math.Vectors.normalizeWithAssert(n) Type: Real[3] Description: Unit vector in direction of translation axis, resolved in frame_a 
boxColor 
Default Value: Modelica.Mechanics.MultiBody.Types.Defaults.JointColor Type: Color Description: Color of prismatic joint box 

specularCoefficient 
Default Value: world.defaultSpecularCoefficient Type: SpecularCoefficient Description: Reflection of ambient light (= 0: light is completely absorbed) 
frame_a 
Type: Frame_a Description: Coordinate system a fixed to the component with one cutforce and cuttorque 


frame_b 
Type: Frame_b Description: Coordinate system b fixed to the component with one cutforce and cuttorque 

axis 
Type: Flange_a Description: 1dim. translational flange that drives the joint 

bearing 
Type: Flange_b Description: 1dim. translational flange of the drive bearing 

position_a 
Type: RealInput[3] Description: Position vector from frame_a to frame_a side of length constraint, resolved in frame_a of prismatic joint 

position_b 
Type: RealInput[3] Description: Position vector from frame_b to frame_b side of length constraint, resolved in frame_b of prismatic joint 
Modelica.Mechanics.MultiBody.Joints.Assemblies Universal  spherical  prismatic joint aggregation (no constraints, no potential states) 

Modelica.Mechanics.MultiBody.Joints.Assemblies Spherical  spherical  prismatic joint aggregation with mass (no constraints, no potential states) 