Cylindrical

Cylindrical joint (2 degrees-of-freedom, 4 potential states)

    Cylindrical

Library

Mechanics/MultiBody/Joints

Description

Joint where frame_b rotates around and translates along axis n which is fixed in frame_a. The two frames coincide when "phi=revolute.phi=0" and "s=prismatic.s=0". This joint has the following potential states;

  • The relative angle phi [rad] around axis n,
  • the relative distance s [m] along axis n,
  • the relative angular velocity w [rad/s] (= der(phi)) and
  • the relative velocity v [m/s] (= der(s)).

They are used as candidates for automatic selection of states from the tool. This may be enforced by setting "stateSelect=StateSelect.always" in the Advanced menu. The states are usually selected automatically. In certain situations, especially when closed kinematic loops are present, it might be slightly more efficient, when using the "StateSelect.always" setting.

In the following figure the animation of a cylindrical joint is shown. The light blue coordinate system is frame_a and the dark blue coordinate system is frame_b of the joint. The black arrow is parameter vector "n" defining the cylinder axis (here: n = {0,0,1}).

Parameters

Cylindrical_0

NameLabelDescriptionData TypeValid Values

mo_animation

animation

= true, if animation shall be enabled (show cylinder)

Scalar

true
false

mo_n

n

Cylinder axis resolved in frame_a (= same as in frame_b)

Vector of size 3

Cylindrical_1

NameLabelDescriptionData TypeValid Values

mo_cylinderDiameter

cylinderDiameter

Diameter of cylinder

Scalar

mo_cylinderColor

cylinderColor

Color of cylinder

Vector of size 3

mo_specularCoefficient

specularCoefficient

Reflection of ambient light (= 0: light is completely absorbed)

Scalar

Cylindrical_2

NameLabelDescriptionData TypeValid Values

mo_stateSelect

stateSelect

Priority to use joint coordinates (phi, s, w, v) as states

Structure

mo_stateSelect/choice1

StateSelect.never

Number

0
1

mo_stateSelect/choice2

StateSelect.avoid

Number

0
1

mo_stateSelect/choice3

StateSelect.default

Number

0
1

mo_stateSelect/choice4

StateSelect.prefer

Number

0
1

mo_stateSelect/choice5

StateSelect.always

Number

0
1

Cylindrical_3

NameLabelDescriptionData TypeValid Values

mo_prismatic

prismatic

prismatic

Structure

mo_prismatic/fixed

fixed

Cell of scalars

mo_revolute

revolute

revolute

Structure

mo_revolute/fixed

fixed

Cell of scalars

mo_s

s

s

Structure

mo_s/fixed

fixed

Cell of scalars

true
false

mo_s/start

start

Cell of scalars

mo_phi

phi

phi

Structure

mo_phi/fixed

fixed

Cell of scalars

true
false

mo_phi/start

start

Cell of scalars

mo_v

v

v

Structure

mo_v/fixed

fixed

Cell of scalars

true
false

mo_v/start

start

Cell of scalars

mo_w

w

w

Structure

mo_w/fixed

fixed

Cell of scalars

true
false

mo_w/start

start

Cell of scalars

mo_a

a

a

Structure

mo_a/fixed

fixed

Cell of scalars

true
false

mo_a/start

start

Cell of scalars

mo_wd

wd

wd

Structure

mo_wd/fixed

fixed

Cell of scalars

true
false

mo_wd/start

start

Cell of scalars

Ports

NameTypeDescriptionIO TypeNumber

frame_a

implicit

Coordinate system a fixed to the component with one cut-force and cut-torque

input

1

frame_b

implicit

Coordinate system b fixed to the component with one cut-force and cut-torque

output

1