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Spherical

Joint allowing three rotational degrees of freedom

 

Description

Connections

Parameters

See Also

Description

A spherical joint, sometimes called a ball-and-socket joint, is shown in the diagram below with two reference frames at either end of the connection: x1y1z1on body 1 and x2y2z2 on body 2. The spherical joint restricts the relative motion of the two frames to a pure rotation about the common origin; this joint type does not allow relative translation of the two frames.

Connections

Name

Description

framea

Joint inboard frame

frameb

Joint outboard frame

Parameters

Symbol

Default

Units

Description

Modelica ID

Typeθ

1,2, 3

-

Indicates the sequence of body-fixed rotations used to describe the initial orientation of the joint.  For example, 1,2,3 refers to sequential rotations about the x, then y, then z axis (123 - Euler angles)

RotType

Typeω

Euler

-

Indicates whether the initial angular velocity is expressed in the inboard or outboard frame. If Euler is selected, the initial angular velocities are assumed to be the direct derivatives of the Euler angles.

AngVelType

ICθ,ω

Ignore

-

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

MechRotTree

θ&conjugate0;0

0,0, 0

rad

Initial rotation of the joint at the start of the simulation, based on the Typeθ parameter value

InitAng

ω&conjugate0;0

0,0, 0

rads

Initial velocity of the joint at the start of the simulation, based on the Typeω parameter value

InitAngVel

See Also

Joints and Motions

Multibody Overview