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Revolute

Joint allowing one rotational degree of freedom about a given axis

 

Description

Connections

Parameters

See Also

Description

A revolute joint, sometimes called a pin or hinge, is shown in the diagram below with the two bodies and body-fixed reference frames that it connects. A revolute joint allows a single relative rotation of the two frames; this joint type prevents all of the other relative rotations and translations. In the diagram shown below, the joint angle, q, represents the relative orientation of the end frame, x2y2z2, with respect to the start frame, x1y1z1. Both z1and z2remain parallel to the joint axis during the joint rotation in this example.  

Connections

Name

Description

framea

 Joint inboard frame

frameb

Joint outboard frame

flangea

Inertial reference frame for 1-D rotational components

flangeb

Rotation of joint. Connects to 1-D rotational components.

Parameters

Symbol

Default

Units

Description

Modelica ID

e^1

0,0,1

-

Axis about which the joint allows rotational motion, expressed in the inboard frame

RotAxis

Ks

0

Nmrad

Spring constant

Kspring

φ0

0

rad

Unstretched angle of the rotational spring

Ang0

Kⅆ

0

Nmsrad

Damping constant

Kdamper

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 the e^1axis

InitOffset

ω0

0

rads

Initial angular velocity of the joint at the start of the simulation, expressed about the e^1axis

InitAngVel

See Also

Joints and Motions

Multibody Overview