modelvariableRevol2

Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)

Information

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<p>This joint is a modification of the Modelica.Mechanics.MultiBody.Joints.Revolute joint. The axis of rotation can be now be set via the input n.</p>
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Parameters

Type	Name	Default	Description
SI.Angle	phi_offset	0	Relative angle offset (angle = phi_offset + phi)
Advanced
StateSelect	stateSelect	StateSelect.never	Priority to use joint angle phi and w=der(phi) as states

Connectors

Type	Name	Description
Modelica.Mechanics.Rotational.Interfaces.Flange_a	axis	1-dim. rotational flange that drives the joint
Modelica.Mechanics.Rotational.Interfaces.Flange_b	support	1-dim. rotational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint)
Modelica.Mechanics.MultiBody.Interfaces.Frame_a	frame_a	Coordinate system fixed to the joint with one cut-force and cut-torque
Modelica.Mechanics.MultiBody.Interfaces.Frame_b	frame_b	Coordinate system fixed to the joint with one cut-force and cut-torque
Modelica.Blocks.Interfaces.RealInput[3]	n	axis of rotation

Components

Type	Name	Description
SI.Angle	phi	Relative rotation angle from frame_a to frame_b
SI.AngularVelocity	w	First derivative of angle phi (relative angular velocity)
SI.Torque	tau	Driving torque in direction of axis of rotation
SI.Angle	angle	= phi_offset + phi