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

JointRRR

Planar revolute - revolute - revolute 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 left and middle revolute joint
frame_ibFrame_bCoordinate system at origin of frame_b fixed at connecting rod of middle and right revolute joint
frame_imFrame_bCoordinate system at origin of revolute joint in the middle fixed at connecting rod of middle and right revolute joint
axisFlange_a1-dim. rotational flange that drives the right revolute joint at frame_b
bearingFlange_b1-dim. rotational flange of the drive bearing of the right revolute joint at frame_b
PARAMETERS
NameTypeDefault ValueDescription
animationBooleantrue= true, if animation shall be enabled
n_aAxis{0,0,1}Axes of revolute joints resolved in frame_a (all axes are parallel to each other)
n_bReal[3]{0,0,1}Axis of revolute joint fixed and resolved in frame_b
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
phi_offsetAngle_deg0Relative angle offset of revolute joint at frame_b (angle = phi(t) + from_deg(phi_offset))
phi_guessAngle_deg0Select the configuration such that at initial time |phi(t0) - from_deg(phi_guess)|is minimal
cylinderLengthDistanceworld.defaultJointLengthLength of cylinders representing the revolute joints
cylinderDiameterDistanceworld.defaultJointWidthDiameter of cylinders representing the revolute joints
rodDiameterDiameter1.1*cylinderDiameterDiameter of the two rods connecting the revolute 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]jointUSR.e2_iaUnit vector along axes of rotations, resolved in frame_ia
e_bReal[3]jointUSR.revolute.eUnit vector along axes of rotations, resolved in frame_b, frame_ib and frame_im
USED IN EXAMPLES
Modelica.Mechanics.MultiBody.Examples.Loops.PlanarLoops_analytic
Mechanism with three planar kinematic loops and one degree-of-freedom with analytic loop handling (with JointRRR joints)