Cylindrical
Cylindrical joint (2 degrees-of-freedom, 4 potential states)
Library
Modelica/Mechanics/MultiBody/Joints
Description
Joint where frame_b rotates around and translates along axis nwhich is fixed in frame_a. The two frames coincide when"phi=revolute.phi=0" and "s=prismatic.s=0". This jointhas the following potential states;
- The relative angle phi [rad] around axis n,
- the relative distance s [m] along axis n,
- the relative angular velocity w [rad/s] (= der(phi)) and
- the relative velocity v [m/s] (= der(s)).
They are used as candidates for automatic selection of statesfrom the tool. This may be enforced by setting "stateSelect=StateSelect.always"in the Advanced menu. The states are usually selected automatically.In certain situations, especially when closed kinematic loops are present,it might be slightly more efficient, when using the "StateSelect.always" setting.
In the following figure the animation of a cylindricaljoint is shown. The light blue coordinate system isframe_a and the dark blue coordinate system isframe_b of the joint. The black arrow is parametervector "n" defining the cylinder axis(here: n = {0,0,1}).
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_animation | animation | = true, if animation shall be enabled (show cylinder) | Scalar | true |
mo_n | n | Cylinder axis resolved in frame_a (= same as in frame_b) | Vector of size 3 | |
mo_s | s | s | Structure | |
mo_s/fixed | fixed | Cell of scalars | true | |
mo_s/start | start | Cell of scalars | ||
mo_phi | phi | phi | Structure | |
mo_phi/fixed | fixed | Cell of scalars | true | |
mo_phi/start | start | Cell of scalars | ||
mo_v | v | v | Structure | |
mo_v/fixed | fixed | Cell of scalars | true | |
mo_v/start | start | Cell of scalars | ||
mo_w | w | w | Structure | |
mo_w/fixed | fixed | Cell of scalars | true | |
mo_w/start | start | Cell of scalars | ||
mo_a | a | a | Structure | |
mo_a/fixed | fixed | Cell of scalars | true | |
mo_a/start | start | Cell of scalars | ||
mo_wd | wd | wd | Structure | |
mo_wd/fixed | fixed | Cell of scalars | true | |
mo_wd/start | start | Cell of scalars |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_cylinderDiameter | cylinderDiameter | Diameter of cylinder | Scalar | |
mo_cylinderColor | cylinderColor | Color of cylinder | Vector of size 3 | |
mo_specularCoefficient | specularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) | Scalar |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_stateSelect | stateSelect | Priority to use joint coordinates (phi, s, w, v) as states | Structure | |
mo_stateSelect/choice1 | StateSelect.never | Number | 0 | |
mo_stateSelect/choice2 | StateSelect.avoid | Number | 0 | |
mo_stateSelect/choice3 | StateSelect.default | Number | 0 | |
mo_stateSelect/choice4 | StateSelect.prefer | Number | 0 | |
mo_stateSelect/choice5 | StateSelect.always | Number | 0 |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo__nmodifiers | Number of Modifiers | Specifies the number of modifiers | Number | |
mo__modifiers | Modifiers | Add new modifier | Structure | |
mo__modifiers/varname | Variable name | Cell of strings | ||
mo__modifiers/attribute | Attribute | Cell of strings | 'start' | |
mo__modifiers/value | Value |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Coordinate system a fixed to the component with one cut-force and cut-torque | input | 1 |
frame_b | implicit | Coordinate system b fixed to the component with one cut-force and cut-torque | output | 1 |