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

JointUPS

Universal - prismatic - spherical 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 prismatic joint
frame_ibFrame_bCoordinate system at origin of frame_b fixed at 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
showUniversalAxesBooleantrue = true, if universal joint shall be visualized with two cylinders, otherwise with a sphere (provided animation=true)
n1_aAxis{0,0,1}Axis 1 of universal joint resolved in frame_a (axis 2 is orthogonal to axis 1 and to line from universal to spherical joint)
nAxis_iaPosition[3]{1,0,0}Axis vector along line from origin of frame_a to origin of frame_b, resolved in frame_ia
s_offsetPosition0Relative distance offset (distance between frame_a and frame_b = s(t) + s_offset)
sphereDiameterDiameterworld.defaultJointLengthDiameter of spheres representing the spherical joints
axisDiameterDiametersphereDiameter/Types.Defaults.JointRodDiameterFractionDiameter of cylinder on the connecting line from frame_a to frame_b
cylinderLengthDistanceworld.defaultJointLengthLength of cylinders representing the two universal joint axes
cylinderDiameterDistanceworld.defaultJointWidthDiameter of cylinders representing the two universal joint axes
checkTotalPowerBooleanfalse= true, if total power flowing into this component shall be determined (must be zero)
eAxis_iaReal[3]Modelica.Math.Vectors.normalize(nAxis_ia)Unit vector from origin of frame_a to origin of frame_b, resolved in frame_ia
e2_iaReal[3]Modelica.Math.Vectors.normalize(cross(n1_a, eAxis_ia))Unit vector in direction of second rotation axis of universal joint, resolved in frame_ia
e3_iaReal[3]cross(eAxis_ia, e2_ia)Unit vector perpendicular to eAxis_ia and e2_ia, resolved in frame_ia
USED IN EXAMPLES
Modelica.Mechanics.MultiBody.Examples.Elementary.LineForceWithTwoMasses
Demonstrate line force with two point masses using a JointUPS and alternatively a LineForceWithTwoMasses component