| Name | Description |
|---|---|
PrismaticWithLengthConstraint | Obsolete model. Use instead Modelica.Mechanics.MultiBody.Joints.Internal.PrismaticWithLengthConstraint |
RevoluteWithLengthConstraint | Obsolete model. Use instead Modelica.Mechanics.MultiBody.Joints.Internal.RevoluteWithLengthConstraint |
Joint where frame_b rotates around axis n which is fixed in frame_a. The two frames coincide when "phi + phi_offset = 0", where "phi_offset" is a parameter with a zero default and "phi" is the rotation angle.
This variant of the revolute joint is designed to work together with a length constraint in a kinematic loop. This means that the angle of the revolute joint, phi, 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 built-up the Modelica.Mechanics.MultiBody.Joints.Assemblies.JointXYZ joints.
Extends from Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames (Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected) and ObsoleteModelica3.Icons.ObsoleteModel (Icon for an obsolete model (use only for this case)).
| Type | Name | Default | Description |
|---|---|---|---|
Boolean | animation | true | = true, if animation shall be enabled |
Position | lengthConstraint | 1 | Fixed length of length constraint |
Axis | n[3] | {0, 0, 1} | Axis of rotation resolved in frame_a (= same as in frame_b) |
Angle_deg | phi_offset | 0 | Relative angle offset (angle = phi + from_deg(phi_offset)) |
Angle_deg | phi_guess | 0 | Select the configuration such that at initial time |phi - from_deg(phi_guess)|is minimal |
Distance | cylinderLength | world.defaultJointLength | Length of cylinder representing the joint axis |
Distance | cylinderDiameter | world.defaultJointWidth | Diameter of cylinder representing the joint axis |
Boolean | axisTorqueBalance | true | = true, if torque balance of flange axis with the frame_b connector (axis.tau = -e*frame_b.t) shall be defined. Otherwise this equation has to be provided outside of this joint |
Boolean | positiveBranch | Based on phi_guess, selection of one of the two solutions of the non-linear constraint equation | |
final Real | e[3] | Modelica.Math.Vectors.normalize(n) | Unit vector in direction of rotation axis, resolved in frame_a |
| Type | Name | Description |
|---|---|---|
Frame_a | frame_a | Coordinate system a fixed to the component with one cut-force and cut-torque |
Frame_b | frame_b | Coordinate system b fixed to the component with one cut-force and cut-torque |
Flange_a | axis | 1-dim. rotational flange that drives the joint |
Flange_b | bearing | 1-dim. rotational flange of the drive bearing |
input RealInput | position_a[3] | Position vector from frame_a to frame_a side of length constraint, resolved in frame_a of revolute joint |
input RealInput | position_b[3] | Position vector from frame_b to frame_b side of length constraint, resolved in frame_b of revolute joint |
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 built-up the Modelica.Mechanics.MultiBody.Joints.Assemblies.JointXYZ joints.
Extends from Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames (Base model for components providing two frame connectors + outer world + assert to guarantee that the component is connected) and ObsoleteModelica3.Icons.ObsoleteModel (Icon for an obsolete model (use only for this case)).
| Type | Name | Default | Description |
|---|---|---|---|
Boolean | animation | true | = true, if animation shall be enabled |
Position | length | 1 | Fixed length of length constraint |
Axis | n[3] | {1, 0, 0} | Axis of translation resolved in frame_a (= same as in frame_b) |
Position | s_offset | 0 | Relative distance offset (distance between frame_a and frame_b = s(t) + s_offset) |
Position | s_guess | 0 | Select the configuration such that at initial time |s(t0)-s_guess|is minimal |
Axis | boxWidthDirection[3] | {0, 1, 0} | Vector in width direction of box, resolved in frame_a |
Distance | boxWidth | world.defaultJointWidth | Width of prismatic joint box |
Distance | boxHeight | boxWidth | Height of prismatic joint box |
Boolean | axisForceBalance | true | = true, if force balance of flange axis with the frame_b connector (axis.f = -e*frame_b.f) shall be defined. Otherwise this equation has to be provided outside of this joint |
Boolean | positiveBranch | Selection of one of the two solutions of the non-linear constraint equation | |
final Real | e[3] | Modelica.Math.Vectors.normalize(n) | Unit vector in direction of translation axis, resolved in frame_a |
| Type | Name | Description |
|---|---|---|
Frame_a | frame_a | Coordinate system a fixed to the component with one cut-force and cut-torque |
Frame_b | frame_b | Coordinate system b fixed to the component with one cut-force and cut-torque |
Flange_a | axis | 1-dim. translational flange that drives the joint |
Flange_b | bearing | 1-dim. translational flange of the drive bearing |
input RealInput | position_a[3] | Position vector from frame_a to frame_a side of length constraint, resolved in frame_a of revolute joint |
input RealInput | position_b[3] | Position vector from frame_b to frame_b side of length constraint, resolved in frame_b of revolute joint |
Generated 2018-12-12 12:17:44 EST by MapleSim.