.Modelica.Mechanics.MultiBody.Joints

Information

This package contains joint components, that is, idealized, massless elements that constrain the motion between frames. In subpackage Assemblies aggregation joint components are provided to handle kinematic loops analytically (this means that non-linear systems of equations occurring in these joint aggregations are analytically solved, i.e., robustly and efficiently).

Content

Model	Description
Prismatic	Prismatic joint and actuated prismatic joint (1 translational degree-of-freedom, 2 potential states)
Revolute	Revolute and actuated revolute joint (1 rotational degree-of-freedom, 2 potential states)
Cylindrical	Cylindrical joint (2 degrees-of-freedom, 4 potential states)
Universal	Universal joint (2 degrees-of-freedom, 4 potential states)
Planar	Planar joint (3 degrees-of-freedom, 6 potential states)
Spherical	Spherical joint (3 constraints and no potential states, or 3 degrees-of-freedom and 3 states)
FreeMotion	Free motion joint (6 degrees-of-freedom, 12 potential states)
SphericalSpherical	Spherical - spherical joint aggregation (1 constraint, no potential states) with an optional point mass in the middle
UniversalSpherical	Universal - spherical joint aggregation (1 constraint, no potential states)
GearConstraint	Ideal 3-dim. gearbox (arbitrary shaft directions)
MultiBody.Joints.Assemblies	Package of joint aggregations for analytic loop handling.
MultiBody.Joints.Constraints	Package of components that define joints by constraints

Contents

Name	Description
Prismatic	Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange)
Revolute	Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)
RevolutePlanarLoopConstraint	Revolute joint that is described by 2 positional constraints for usage in a planar loop (the ambiguous cut-force perpendicular to the loop and the ambiguous cut-torques are set arbitrarily to zero)
Cylindrical	Cylindrical joint (2 degrees-of-freedom, 4 potential states)
Universal	Universal joint (2 degrees-of-freedom, 4 potential states)
Planar	Planar joint (3 degrees-of-freedom, 6 potential states)
Spherical	Spherical joint (3 constraints and no potential states, or 3 degrees-of-freedom and 3 states)
FreeMotion	Free motion joint (6 degrees-of-freedom, 12 potential states)
FreeMotionScalarInit	Free motion joint with scalar initialization and state selection (6 degrees-of-freedom, 12 potential states)
SphericalSpherical	Spherical - spherical joint aggregation (1 constraint, no potential states) with an optional point mass in the middle
UniversalSpherical	Universal - spherical joint aggregation (1 constraint, no potential states)
GearConstraint	Ideal 3-dim. gearbox (arbitrary shaft directions)
RollingWheel	Joint (no mass, no inertia) that describes an ideal rolling wheel (rolling on the plane z=0)
RollingWheelSet	Joint (no mass, no inertia) that describes an ideal rolling wheel set (two ideal rolling wheels connected together by an axis)
Assemblies	Components that aggregate several joints for analytic loop handling
Constraints	Components that define joints by constraints
Internal	Components used for analytic solution of kinematic loops (use only if you know what you are doing)