Revolute
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A revolute joint. [1]
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, 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 |
Public Fields
| 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 |