Revolute: Difference between revisions
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|n||Modelica.Mechanics.MultiBody.Types.Axis||{0,0,1}||the rotation axis in frame_a | |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 | |phi_offset||SIunits.Angle||0||offset applied to the joint's internal angle measurement | ||
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|tau||SIunits.Torque||0||driving torque in the axis of rotation | |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 | |useAxisFlange||Boolean||false||whether to constrain the joint according to whatever is attached to the "support" and "axis" flanges, as when adding a rotational damper to the joint | ||
|} | |} | ||
===Public Fields=== | ===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 | |||
|- | |||
|} | |||
Latest revision as of 22:51, 6 January 2020
A revolute joint. [1]
Modeling Approach[edit]
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[edit]
None.
Optional Parameters[edit]
| 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 "support" and "axis" flanges, as when adding a rotational damper to the joint |
Public Fields[edit]
| 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 |