Prismatic
A prismatic joint
Library
PlanarMechanics/Joints
Description
Direction of the prismatic joint is determined by r[2],which is a vector pointing from frame_a toframe_b.
Optionally, two additional one-dimensional mechanical flanges (flangeflange_a represents the driving flange and flangesupport represents the bearing) can be enabled viaparameter useFlange. The enabled flange_aflange can be driven with elements of theModelica.Mechanics.Translationallibrary.
In the "Initialization" block, elongation sof the joint, velocity of elongation v as well asacceleration of elongation a can be initialized.
It can be defined via parameter (in "Advanced" tab)stateSelect that the relative distance sand its derivative shall be definitely used as states by settingstateSelect = StateSelect.always.
In "Animation" group, animation parameters for this model can be set,where zPosition represents the model's position alongthe z axis in 3D animation. Some of the values can be presetby an outer PlanarWorldmodel.
Parameters
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_useFlange | useFlange | = true, if force flange enabled, otherwise implicitly grounded | Number | 0 |
mo_animate | animate | = true, if animation shall be enabled | Scalar | true |
mo_r | r | Direction of the rod wrt. body system at phi=0 | Vector of size 2 | |
mo_l | l | Length of r | Scalar | |
mo_e | e | Unit vector in direction of r | Vector of size 2 | |
mo_s | s | s | Structure | |
mo_s/fixed | fixed | Cell of scalars | true | |
mo_s/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_a | a | a | Structure | |
mo_a/fixed | fixed | Cell of scalars | true | |
mo_a/start | start | Cell of scalars |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_stateSelect | stateSelect | Priority to use s and 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_zPosition | zPosition | Position z of the prismatic joint box | Scalar | |
mo_boxWidth | boxWidth | Width of prismatic joint box | Scalar | |
mo_boxColor | boxColor | Color of prismatic joint box | 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__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 | 'f' | |
mo__modifiers/attribute | Attribute | Cell of strings | 'start' | |
mo__modifiers/value | Value |
Ports
| Name | Type | Description | IO Type | Number |
|---|---|---|---|---|
frame_a | implicit | Coordinate system fixed to the component with one cut-force and cut-torque | input | 1 |
frame_b | implicit | Coordinate system fixed to the component with one cut-force and cut-torque | input | 2 |
Port 3 | implicit | input | mo_useFlange | |
Port 4 | implicit | 1-dim. translational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint) | output | mo_useFlange |