This information is part of the Modelica Standard Library maintained by the Modelica Association.

JointRRP

Planar revolute - revolute - prismatic joint aggregation (no constraints, no potential states)

Information
CONNECTORS
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NameTypeDescription
frame_aFrame_aCoordinate system fixed to the component with one cut-force and cut-torque
frame_bFrame_bCoordinate system fixed to the component with one cut-force and cut-torque
frame_iaFrame_aCoordinate system at origin of frame_a fixed at connecting rod of revolute joints
frame_ibFrame_bCoordinate system at origin of frame_b fixed at connecting rod of revolute and prismatic joint
frame_imFrame_bCoordinate system at origin of revolute joint in the middle fixed at connecting rod of revolute and prismatic joint
axisFlange_a1-dim. translational flange that drives the prismatic joint
bearingFlange_b1-dim. translational flange of the drive bearing of the prismatic joint
PARAMETERS
NameTypeDefault ValueDescription
animationBooleantrue= true, if animation shall be enabled
n_aAxis{0,0,1}Axes of the two revolute joints resolved in frame_a (both axes are parallel to each other)
n_bAxis{-1,0,0}Axis of prismatic joint fixed and resolved in frame_b (must be orthogonal to revolute joint axes)
rRod1_iaPosition[3]{1,0,0}Vector from origin of frame_a to revolute joint in the middle, resolved in frame_ia
rRod2_ibPosition[3]{-1,0,0}Vector from origin of frame_ib to revolute joint in the middle, resolved in frame_ib (frame_ib is parallel to frame_b)
s_offsetPosition0Relative distance offset of prismatic joint (distance between the prismatic joint frames = s(t) + s_offset)
s_guessPosition0Select the configuration such that at initial time |s(t0)-s_guess|is minimal
cylinderLengthDistanceworld.defaultJointLengthLength of cylinders representing the revolute joints
cylinderDiameterDistanceworld.defaultJointWidthDiameter of cylinders representing the revolute joints
boxWidthDirectionAxis{0,1,0}Vector in width direction of prismatic joint, resolved in frame_b
boxWidthDistanceworld.defaultJointWidthWidth of prismatic joint box
boxHeightDistanceboxWidthHeight of prismatic joint box
rodDiameterDiameter1.1*cylinderDiameterDiameter of the two rods connecting the joints
checkTotalPowerBooleanfalse= true, if total power flowing into this component shall be determined (must be zero)
e_aReal[3]Modelica.Math.Vectors.normalize(n_a)Unit vector along axes of rotations, resolved in frame_a
e_iaReal[3]jointUSP.e2_iaUnit vector along axes of rotations, resolved in frame_ia
e_imReal[3]Unit vector along axes of rotations, resolved in frame_im
e_bReal[3]jointUSP.prismatic.eUnit vector along axes of translation of the prismatic joint, resolved in frame_b and frame_ib
USED IN EXAMPLES
Modelica.Mechanics.MultiBody.Examples.Loops.Engine1b_analytic
Model of one cylinder engine with gas force and analytic loop handling
USED IN COMPONENTS
Modelica.Mechanics.MultiBody.Examples.Loops.Utilities.CylinderBase
One cylinder with analytic handling of kinematic loop
Modelica.Mechanics.MultiBody.Examples.Loops.Utilities.Cylinder_analytic_CAD
One cylinder with analytic handling of kinematic loop and CAD visualization