Revolute
A revolute joint
Library
PlanarMechanics/Joints
Description
Joint of in-plane rotation of frame_b relative to frame_a.The two frames coincide when the rotation angle phi = 0°.
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.Rotationallibrary.
In the "Initialization" block, angular position phi,angular velocity w as well as angularacceleration z can be initialized.
It can be defined via parameter (in "Advanced" tab)stateSelect that the relative angle phiand 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_phi | phi | phi | Structure | |
mo_phi/fixed | fixed | Cell of scalars | true | |
mo_phi/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_z | z | z | Structure | |
mo_z/fixed | fixed | Cell of scalars | true | |
mo_z/start | start | Cell of scalars |
| Name | Label | Description | Data Type | Valid Values |
|---|---|---|---|---|
mo_stateSelect | stateSelect | Priority to use phi and w 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 cylinder representing the joint axis | Scalar | |
mo_cylinderLength | cylinderLength | Length of cylinder representing the joint axis | Scalar | |
mo_cylinderDiameter | cylinderDiameter | Diameter of cylinder representing the joint axis | Scalar | |
mo_cylinderColor | cylinderColor | Color of cylinder representing the joint axis | Vector of size 3 | |
mo_specularCoefficient | specularCoefficient | Reflection of ambient light (= 0: light is completely absorbed) | Scalar | |
mo_extraLine | extraLine | Enable black line in the cylinder to show the joint rotation | Scalar | true |
| 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 | 't' | |
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. rotational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint) | output | mo_useFlange |