XYZ Translational

Joint allowing three translational degrees of freedom

 Description A translational joint, sometimes called a 3-DOF joint, is shown in the diagram below with two reference frames at either end of the connection: ${x}_{1}{y}_{1}$${z}_{1}$on body 1, and ${x}_{2}{y}_{2}$${z}_{2}$on body 2. The translational joint allows free relative translation of the two frames, but constrains the relative rotation completely. Thus, the ${x}_{2}{y}_{2}$${z}_{2}$ axes remain parallel to the${z}_{1}$axes, respectively, during the motion of the system. The translation of the end frame, ${x}_{2}{y}_{2}$${z}_{2},$relative to the start frame, ${x}_{1}{y}_{1}$${z}_{1},$is represented by the vector, r, which is resolved into its three components in the ${x}_{1}{y}_{1}$${z}_{1}$ frame.

Connections

 Name Description ${\mathrm{frame}}_{a}$ Joint inboard frame ${\mathrm{frame}}_{b}$ Joint outboard frame

Parameters

 Symbol Default Units Description Modelica ID ${\mathrm{IC}}_{r,v}$ Ignore - Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the translational initial conditions MechTranTree ${\stackrel{&conjugate0;}{r}}_{0}$ $\left[0,0,0\right]$ $m$ Initial displacement of the joint at the start of the simulation, expressed along the x-, y-, and z-axis of the inboard frame respectively InitPos ${\stackrel{&conjugate0;}{v}}_{0}$ $\left[0,0,0\right]$ $\frac{m}{s}$ Initial velocity of the joint at the start of the simulation, expressed along the x-, y-, and z-axis of the inboard frame respectively InitVel