WOLFRAM SYSTEMMODELER

Prismatic

A prismatic joint

Diagram

Wolfram Language

In[1]:=
SystemModel["PlanarMechanics.Joints.Prismatic"]
Out[1]:=

Information

Direction of the Joint is determined by r[2], which is a vector pointing from frame_a to frame_b.

Optionally, two additional 1-dimensional mechanical flanges (flange "flange_a" represents the driving flange and flange "support" represents the bearing) can be enabled via parameter useFlange. The enabled flange_a flange can be driven with elements of the Modelica.Mechanics.Translational library.

In the "Initialization" block, elongation of the joint s, velocity of elongation v as well as acceleration of elongation a can be initialized.

It can be defined via parameter (in "advanced" tab) stateSelect that the relative distance "s" and its derivative shall be definitely used as states by setting stateSelect=StateSelect.always.

In "Animation" group, animation parameters for this model can be set, where zPosition represents the model's position along the z axis in 3D animation. Some of the values can be preset by an outer PlanarWorld model.

Parameters (8)

useFlange

Value: false

Type: Boolean

Description: = true, if force flange enabled, otherwise implicitly grounded

animate

Value: true

Type: Boolean

Description: = true, if animation shall be enabled

stateSelect

Value: StateSelect.default

Type: StateSelect

Description: Priority to use s and v as states

r

Value:

Type: Position[2] (m)

Description: Direction of the rod wrt. body system at phi=0

l

Value: sqrt(r * r)

Type: Length (m)

Description: Length of r

e

Value: r / l

Type: Distance[2] (m)

Description: Normalized r

zPosition

Value: planarWorld.defaultZPosition

Type: Length (m)

Description: Position z of the prismatic joint box

boxWidth

Value: l / planarWorld.defaultWidthFraction

Type: Distance (m)

Description: Width of prismatic joint box

Inputs (2)

boxColor

Default Value: Types.Defaults.JointColor

Type: Color

Description: Color of prismatic joint box

specularCoefficient

Default Value: planarWorld.defaultSpecularCoefficient

Type: SpecularCoefficient

Description: Reflection of ambient light (= 0: light is completely absorbed)

Connectors (4)

frame_a

Type: Frame_a

Description: Coordinate system fixed to the component with one cut-force and cut-torque

frame_b

Type: Frame_b

Description: Coordinate system fixed to the component with one cut-force and cut-torque

flange_a

Type: Flange_a

support

Type: Flange_b

Description: 1-dim. translational flange of the drive support (assumed to be fixed in the world frame, NOT in the joint)

Components (3)

planarWorld

Type: PlanarWorld

Description: Planar world model

box

Type: Shape

fixed

Type: Fixed

Used in Examples (13)

PowerDistanceDemo

PlanarMechanics.Examples

Power and distance sensor demo

CraneCrab

PlanarMechanics.Examples

A damped crane crab

ControlledCraneCrab

PlanarMechanics.Examples

A controlled crane crab

InvertedCraneCrab

PlanarMechanics.Examples

An inverted model of a pendulum

SpringDemo

PlanarMechanics.Examples

Spring demo

KinematicLoop

PlanarMechanics.Examples

An example of a kinematic loop (manual state selection)

KinematicLoop_DynamicStateSelection

PlanarMechanics.Examples

An example of a kinematic loop

PistonEngine

PlanarMechanics.Examples

A piston engine (manual state selection)

PistonEngine_DynamicStateSelection

PlanarMechanics.Examples

A piston engine

CraneCrabTo3D

PlanarMechanics.Examples

A damped crane crab

TestIdealWheel

PlanarMechanics.VehicleComponents.Examples

Test an ideal wheel

TestDryFrictionWheel

PlanarMechanics.VehicleComponents.Examples

Dry friction wheel

TestSlipBasedWheel

PlanarMechanics.VehicleComponents.Examples

A slip-based wheel