modelvariablePrism2
Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange)
Extends from Modelica.Mechanics.MultiBody.Interfaces.PartialElementaryJoint (Base model for elementary joints (has two frames + outer world + assert to guarantee that the joint is connected)).
Information
<!DOCTYPE html><html> <p>This joint is a modification of the Modelica.Mechanics.MultiBody.Joints.Prismatic joint. The axis of translation can be now be set via the input n.</p> </html>
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| SI.Position | s_offset | 0 | Relative distance offset (distance between frame_a and frame_b = s_offset + s) |
| Advanced | |||
| StateSelect | stateSelect | StateSelect.never | Priority to use distance s and v=der(s) as states |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.Frame_a | frame_a (from PartialElementaryJoint) | Coordinate system fixed to the joint with one cut-force and cut-torque | |
| Interfaces.Frame_b | frame_b (from PartialElementaryJoint) | Coordinate system fixed to the joint with one cut-force and cut-torque | |
| Modelica.Mechanics.Translational.Interfaces.Flange_a | axis | 1-dim. translational flange that drives the joint | |
| Modelica.Mechanics.Translational.Interfaces.Flange_b | support | 1-dim. translational flange of the drive drive support (assumed to be fixed in the world frame, NOT in the joint) | |
| Modelica.Blocks.Interfaces.RealInput[3] | n | direction vector |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3] | e | Unit vector in direction of prismatic axis n | |
| SI.Position | s | Relative distance between frame_a and frame_b | |
| SI.Force | f | Actuation force in direction of joint axis | |
| Modelica.Mechanics.Translational.Components.Fixed | fixed | ||
| Modelica.Mechanics.Translational.Interfaces.InternalSupport | internalAxis |