WOLFRAM SYSTEMMODELER

Revolute

A revolute joint

Diagram

Wolfram Language

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

Information

Joint where frame_b rotates around axis n which is fixed in frame_a. The two frames coincide when the rotation angle "phi = 0".

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 axis 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 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 (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)

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. 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

fixed

Type: Fixed

Description: support flange is fixed to ground

Used in Examples (20)

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

WheelBasedCranCrab

PlanarMechanics.Examples

A pendulum mounted on an ideal rolling wheel

CraneCrabTo3D

PlanarMechanics.Examples

A damped crane crab

SpurGear

PlanarMechanics.GearComponents.Examples

Rigid spur gear

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

Used in Components (1)

RigidNoLossPlanetary

PlanarMechanics.GearComponents.Examples.Utilities

Planetary gearbox