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

# RevoluteWithLengthConstraint

Revolute joint where the rotation angle is computed from a length constraint (1 degree-of-freedom, no potential state)

CONNECTORS

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Name | Type | Description | |
---|---|---|---|

frame_a | Frame_a | Coordinate system fixed to the component with one cut-force and cut-torque | |

frame_b | Frame_b | Coordinate system fixed to the component with one cut-force and cut-torque | |

axis | Flange_a | 1-dim. rotational flange that drives the joint | |

bearing | Flange_b | 1-dim. rotational flange of the drive bearing | |

position_a | RealInput[3] | Position vector from frame_a to frame_a side of length constraint, resolved in frame_a of revolute joint | |

position_b | RealInput[3] | Position vector from frame_b to frame_b side of length constraint, resolved in frame_b of revolute joint |

PARAMETERS

Name | Type | Default Value | Description |
---|---|---|---|

animation | Boolean | true | = true, if animation shall be enabled |

lengthConstraint | Position | Fixed length of length constraint | |

n | Axis | {0,0,1} | Axis of rotation resolved in frame_a (= same as in frame_b) |

phi_offset | Angle_deg | 0 | Relative angle offset (angle = phi + from_deg(phi_offset)) |

phi_guess | Angle_deg | 0 | Select the configuration such that at initial time |phi - from_deg(phi_guess)|is minimal |

cylinderLength | Distance | world.defaultJointLength | Length of cylinder representing the joint axis |

cylinderDiameter | Distance | world.defaultJointWidth | Diameter of cylinder representing the joint axis |

positiveBranch | Boolean | Based on phi_guess, selection of one of the two solutions of the non-linear constraint equation | |

e | Real[3] | Modelica.Math.Vectors.normalize(n) | Unit vector in direction of rotation axis, resolved in frame_a |

USED IN COMPONENTS

Modelica.Mechanics.MultiBody.Joints.Assemblies.JointUSR Universal - spherical - revolute joint aggregation (no constraints, no potential states) | |

Modelica.Mechanics.MultiBody.Joints.Assemblies.JointSSR Spherical - spherical - revolute joint aggregation with mass (no constraints, no potential states) |