WOLFRAM SYSTEM MODELER

Revolute

A revolute joint

Diagram

Wolfram Language

In[1]:=

SystemModel["PlanarMechanics.Joints.Revolute"]

Out[1]:=

Information

Joint of in-plane rotation of frame_b relative to frame_a. The two frames coincide when the rotation angle phi = 0°.

Optionally, two additional one-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.Rotational library.

In the "Initialization" block, angular position phi, angular velocity w as well as angular acceleration z can be initialized.

It can be defined via parameter (in "Advanced" tab) stateSelect that the relative angle phi 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 (7)

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 phi and w as states
zPosition	Value: planarWorld.defaultZPosition Type: Length (m) Description: Position z of cylinder representing the joint axis
cylinderLength	Value: planarWorld.defaultJointLength Type: Distance (m) Description: Length of cylinder representing the joint axis
cylinderDiameter	Value: planarWorld.defaultJointWidth Type: Distance (m) Description: Diameter of cylinder representing the joint axis
extraLine	Value: false Type: Boolean Description: Enable black line in the cylinder to show the joint rotation

Inputs (2)

cylinderColor	Default Value: Types.Defaults.JointColor Type: Color Description: Color of cylinder representing the joint axis
specularCoefficient	Default Value: planarWorld.defaultSpecularCoefficient Type: SpecularCoefficient Description: Reflection of ambient light (= 0: light is completely absorbed)

cylinderColor

Default Value: Types.Defaults.JointColor

Type: Color

Description: Color of cylinder representing the joint axis

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 Description: One-dimensional rotational flange of a shaft (filled circle icon)
	support	Type: Flange_b Description: 1-dim. rotational 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
	cylinder	Type: Shape Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)
	fixed	Type: Fixed Description: support flange is fixed to ground

planarWorld

Type: PlanarWorld

Description: Planar world model

cylinder

Type: Shape

Description: Visualizing an elementary object with variable size; all data have to be set as modifiers (see info layer)

fixed

Type: Fixed

Description: support flange is fixed to ground

Used in Examples (21)

	Pendulum PlanarMechanics.Examples A free swinging pendulum
	PendulumExcited PlanarMechanics.Examples A swinging pendulum excited by a world force
	DoublePendulum PlanarMechanics.Examples Simple double pendulum with two revolute joints and two bodies
	MeasureDemo PlanarMechanics.Examples Measure demo
	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
	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
	WheelBasedCraneCrab PlanarMechanics.Examples A pendulum mounted on an ideal rolling wheel
	CraneCrabTo3D PlanarMechanics.Examples A damped crane crab
	SpurGear PlanarMechanics.GearComponents.Examples Rigid spur gear
	TestAirDrag PlanarMechanics.VehicleComponents.Examples Test air drag model
	TestIdealWheel PlanarMechanics.VehicleComponents.Examples Test an ideal wheel
	TestDryFrictionWheel PlanarMechanics.VehicleComponents.Examples Dry friction wheel
	TestSlipBasedWheel PlanarMechanics.VehicleComponents.Examples A slip-based wheel
	SingleTrackWithEngine PlanarMechanics.VehicleComponents.Examples Single track model
	TwoTrackWithDifferentialGear PlanarMechanics.VehicleComponents.Examples Double track model