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Planar

Joint allowing two translational and one rotational degree of freedom (the rotational degree of freedom is about an axis perpendicular to the two translational axes)

 

Description

Connections

Parameters

See Also

Description

A planar joint is shown in the diagram below with the two bodies that it connects. A planar joint allows the two connected frames to translate along two axes and rotate about a third axis that is orthogonal to the two translational axes; this joint type prevents all of the other relative motions of the two frames. In the diagram below, the joint displacement vector, r, and joint angle, q, represent the relative translation and rotation respectively of the end frame, x2y2z2, with respect to the start frame, x1y1z1.  In this example, the x1y1 and x2y2 frames are constrained by the joint to remain in the same plane.

Connections

Name

Description

framea

Joint inboard frame

frameb

Joint outboard frame

Parameters

Symbol

Default

Units

Description

Modelica ID

e^1

1,0,0

-

First axis along which the joint allows translational motion, expressed in the inboard frame

TranAxis1

e^2

0,1,0

-

Second axis along which the joint allows translational motion. It is orthogonal to the e^1axis and expressed in the inboard frame

TranAxis2

ICs,v

Ignore

-

Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the translational initial conditions

MechTranTree

s&conjugate0;0

0,0

m

Initial displacement of the joint at the start of the simulation, expressed along the e^1 and e^2 axes respectively

InitPos

v&conjugate0;0

0,0

ms

Initial velocity of the joint at the start of the simulation, expressed along the e^1 and e^2 axes respectively

InitVel

ICθ,ω

Ignore

-

Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the rotational initial conditions

MechRotTree

θ0

0

rad

Initial rotation of the joint at the start of the simulation, expressed about e^1×e^2

InitAng

ω0

0

rads

Initial velocity of the joint at the start of the simulation, expressed about e^1×e^2

InitAngVel

See Also

Joints and Motions

Multibody Overview