Attribution Notice
This model is an extension 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.
The torsional stiffness of this joint in all three directions is determined by the constant c.
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