Attribution Notice
This model is a modification of the Spherical block in the Mechanics.MultiBody.Joints package
of the Modelica Standard Library
Copyright © 1998-2016, Modelica Association and DLR.
Block for modeling a spherical 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.
Rotational springs can be connected to add torsional stiffness to the joint.
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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ATA ENGINEERING, INC.
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