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

JointUSR

Universal - spherical - 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 universal and spherical joint
frame_ibFrame_bCoordinate system at origin of frame_b fixed at connecting rod of spherical and revolute joint
frame_imFrame_bCoordinate system at origin of spherical joint fixed at connecting rod of spherical and revolute joint
axisFlange_a1-dim. rotational flange that drives the revolute joint
bearingFlange_b1-dim. rotational flange of the drive bearing of the revolute 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 fixed and resolved in frame_a (axis 2 is orthogonal to axis 1 and to rod 1)
n_bAxis{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 spherical joint, resolved in frame_ia
rRod2_ibPosition[3]{-1,0,0}Vector from origin of frame_ib to spherical joint, resolved in frame_ib
phi_offsetAngle_deg0Relative angle offset of revolute joint (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
sphereDiameterDiameterworld.defaultJointLengthDiameter of the spheres representing the universal and the spherical joint
rod1DiameterDiametersphereDiameter/Types.Defaults.JointRodDiameterFractionDiameter of rod 1 connecting the universal and the spherical joint
rod2DiameterDiameterrod1DiameterDiameter of rod 2 connecting the revolute and the spherical joint
revoluteDiameterDiameterworld.defaultJointWidthDiameter of cylinder representing the revolute joint
revoluteLengthDistanceworld.defaultJointLengthLength of cylinder representing the revolute joint
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)
eRod1_iaReal[3]rod1.eRod_iaUnit vector from origin of frame_a to origin of spherical joint, resolved in frame_ia
e2_iaReal[3]rod1.e2_iaUnit vector in direction of axis 2 of universal joint, resolved in frame_ia
rod1LengthDistancerod1.rodLengthLength of rod 1 (= distance between universal and spherical joint
USED IN COMPONENTS
Modelica.Mechanics.MultiBody.Joints.Assemblies.JointRRR
Planar revolute - revolute - revolute joint aggregation (no constraints, no potential states)