Revolute: Difference between revisions
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(Created page with "A revolute joint. ===Modeling Approach=== The joint one frame one each side of the joint, with flanges on the joint and the rotating axis for receiving torques from Rotatio...") |
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|phi_offset||SIunits.Angle||0||offset applied to the joint's internal angle measurement | |phi_offset||SIunits.Angle||0||offset applied to the joint's internal angle measurement | ||
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|angle||SIunits.Angle||0||joint angle, = phi + phi_offset|w||SIunits.AngularVelocity||0||initial angular velocity | |angle||SIunits.Angle||0||joint angle, = phi + phi_offset | ||
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|w||SIunits.AngularVelocity||0||initial angular velocity | |||
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|a||SIunits.AngularAcceleration||0||initial angular acceleration | |a||SIunits.AngularAcceleration||0||initial angular acceleration | ||
Revision as of 15:19, 7 November 2019
A revolute joint.
Modeling Approach
The joint one frame one each side of the joint, with flanges on the joint and the rotating axis for receiving torques from Rotational elements.
Required Parameters
None.
Optional Parameters
| name | type | default | description |
|---|---|---|---|
| n | Modelica.Mechanics.MultiBody.Types.Axis | {0,0,1} | the rotation axis in frame_a |
| phi | SIunits.Angle | 0 | initial joint angle measured in frame_a and rotation axis n |
| phi_offset | SIunits.Angle | 0 | offset applied to the joint's internal angle measurement |
| angle | SIunits.Angle | 0 | joint angle, = phi + phi_offset |
| w | SIunits.AngularVelocity | 0 | initial angular velocity |
| a | SIunits.AngularAcceleration | 0 | initial angular acceleration |
| tau | SIunits.Torque | 0 | driving torque in the axis of rotation |
| useAxisFlange | Boolean | false | whether to constrain the joint according to whatever is attached to the axis and joint flanges |