Revolute: Difference between revisions

Revision as of 16:27, 3 January 2020

A revolute joint. [1]

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.

None.

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, specified as `phi( start=startAngle )`
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

name	type	description
frame_a	Interfaces.Frame_a	Coordinate system fixed to the component with one cut-force and cut-torque
frame_b	Interfaces.Frame_b	Coordinate system fixed to the component with one cut-force and cut-torque
phi	SIunits.Angle	angle between frame_a and frame_b

@@ Line 13: / Line 13: @@
 |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||SIunits.Angle||0||initial joint angle measured in frame_a and rotation axis n, specified as <code>phi( start=startAngle )</code>
 |-
 |phi_offset||SIunits.Angle||0||offset applied to the joint's internal angle measurement
@@ Line 29: / Line 29: @@
 ===Public Fields===
+{|class="wikitable"
+!name||type||description
+|-
+|frame_a||Interfaces.Frame_a||Coordinate system fixed to the component with one cut-force and cut-torque
+|-
+|frame_b||Interfaces.Frame_b||Coordinate system fixed to the component with one cut-force and cut-torque
+|-
+|phi||SIunits.Angle||angle between frame_a and frame_b
+|-
+|}