.Modelica.Mechanics.MultiBody.Joints

Information

This package contains joint components, that is, idealized, massless elements that constrain the motion between frames. In subpackage Assemblies aggregation joint components are provided to handle kinematic loops analytically (this means that non-linear systems of equations occurring in these joint aggregations are analytically solved, i.e., robustly and efficiently).

Content

Model Description
Prismatic Prismatic joint and actuated prismatic joint (1 translational degree-of-freedom, 2 potential states)
Revolute Revolute and actuated revolute joint (1 rotational degree-of-freedom, 2 potential states)
Cylindrical Cylindrical joint (2 degrees-of-freedom, 4 potential states)
Universal Universal joint (2 degrees-of-freedom, 4 potential states)
Planar Planar joint (3 degrees-of-freedom, 6 potential states)
Spherical Spherical joint (3 constraints and no potential states, or 3 degrees-of-freedom and 3 states)
FreeMotion Free motion joint (6 degrees-of-freedom, 12 potential states)
SphericalSpherical Spherical - spherical joint aggregation (1 constraint, no potential states) with an optional point mass in the middle
UniversalSpherical Universal - spherical joint aggregation (1 constraint, no potential states)
GearConstraint Ideal 3-dim. gearbox (arbitrary shaft directions)
MultiBody.Joints.Assemblies Package of joint aggregations for analytic loop handling.
MultiBody.Joints.Constraints Package of components that define joints by constraints

Contents

Name Description
 Prismatic Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange)
 Revolute Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange)
 RevolutePlanarLoopConstraint Revolute joint that is described by 2 positional constraints for usage in a planar loop (the ambiguous cut-force perpendicular to the loop and the ambiguous cut-torques are set arbitrarily to zero)
 Cylindrical Cylindrical joint (2 degrees-of-freedom, 4 potential states)
 Universal Universal joint (2 degrees-of-freedom, 4 potential states)
 Planar Planar joint (3 degrees-of-freedom, 6 potential states)
 Spherical Spherical joint (3 constraints and no potential states, or 3 degrees-of-freedom and 3 states)
 FreeMotion Free motion joint (6 degrees-of-freedom, 12 potential states)
 FreeMotionScalarInit Free motion joint with scalar initialization and state selection (6 degrees-of-freedom, 12 potential states)
 SphericalSpherical Spherical - spherical joint aggregation (1 constraint, no potential states) with an optional point mass in the middle
 UniversalSpherical Universal - spherical joint aggregation (1 constraint, no potential states)
 GearConstraint Ideal 3-dim. gearbox (arbitrary shaft directions)
 RollingWheel Joint (no mass, no inertia) that describes an ideal rolling wheel (rolling on the plane z=0)
 RollingWheelSet Joint (no mass, no inertia) that describes an ideal rolling wheel set (two ideal rolling wheels connected together by an axis)
 Assemblies Components that aggregate several joints for analytic loop handling
 Constraints Components that define joints by constraints
 Internal Components used for analytic solution of kinematic loops (use only if you know what you are doing)

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