WOLFRAM SYSTEM MODELER

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)

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

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