.DeployStructLib.Parts.Joints.WeakRevolute .DeployStructLib.Parts.Joints.WeakRevoluteAttribution Notice
This model is a modification of the Revolute block in the Mechanics.MultiBody.Joints package
of the Modelica Standard Library
Copyright © 1998-2016, Modelica Association and DLR.
Block for modeling a revolute joint with a weak constraint. Most Modelica joints introduce strong constraints, i.e. the position of the two frames must be exactly equal. In reality, such strong constraints can cause binding in systems with multiple joints and cause systems to have kinematic loops. This joint overcomes these problems by using a weak formulation of the joint constraints.
Model extends the WeakSpherical joint and adds rotational stiffness to constrained rotations.
One needs to pay attention and be careful with angle definitions when used in conjunction with rotational springs because phi is determined as a function of R_rel, therefore angle branching occurs at phi = pi and -pi.
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