Gimbal Joint

Select this option to specify the desired joint primitive position at time zero. This is the relative rotation angle, measured about the joint primitive axis, of the follower frame with respect to the base frame. The specified target is resolved in the base frame. Selecting this option exposes priority and value fields.

Select this option to specify the desired joint primitive velocity at time zero. This is the relative angular velocity, measured about the joint primitive axis, of the follower frame with respect to the base frame. It is resolved in the base frame. Selecting this option exposes priority and value fields.

Enter the spring equilibrium position. This is the rotation angle between base and follower frames at which the spring torque is zero. The default value is 0. Select or enter a physical unit. The default is deg.

Enter the linear spring constant. This is the torque required to rotate the joint primitive by a unit angle. The default is 0. Select or enter a physical unit. The default is N*m/deg.

Enter the linear damping coefficient. This is the torque required to maintain a constant joint primitive angular velocity between base and follower frames. The default is 0. Select or enter a physical unit. The default is N*m/(deg/s).

Select to add a lower bound to the range of motion of the joint primitive.

Select to add an upper bound to the range of motion of the joint primitive.

Location past which to resist joint travel. The location is the offset from base to follower, as measured in the base frame, at which contact begins. It is a distance along an axis in prismatic primitives, an angle about an axis in revolute primitives, and an angle between two axes in spherical primitives.

Resistance of the contact spring to displacement past the joint limit. The spring is linear and its stiffness is constant. The larger the value, the harder the stop. The proportion of spring to damper forces determines whether the stop is underdamped and prone to oscillations on contact.

Resistance of the contact damper to motion past the joint limit. The damper is linear and its coefficient is constant. The larger the value, the greater the viscous losses that gradually lessen contact oscillations, if any arise. The proportion of spring to damper forces determines whether the stop is underdamped and prone to oscillations on contact.

Region over which to raise the spring-damper force to its full value. The region is a distance along an axis in prismatic primitives, an angle about an axis in revolute primitives, and an angle between two axes in spherical primitives.

The smaller the region, the sharper the onset of contact and the smaller the time-step required of the solver. In the trade-off between simulation accuracy and simulation speed, reducing the transition region improves accuracy while expanding it improves speed.

Select an actuation torque setting. The default setting is None.

Select an actuation motion setting. The default setting is Automatically Computed.

Select this option to sense the relative rotation angle of the follower frame with respect to the base frame about the joint primitive axis.

Select this option to sense the relative angular velocity of the follower frame with respect to the base frame about the joint primitive axis.

Select this option to sense the relative angular acceleration of the follower frame with respect to the base frame about the joint primitive axis.

Select this option to sense the actuation torque acting on the follower frame with respect to the base frame about the joint primitive axis.

Select one of the following options to specify the mode of the joint. The default setting is Normal.

Vector to sense from the action-reaction pair between the base and follower frames. The pair arises from Newton's third law of motion which, for a joint block, requires that a force or torque on the follower frame accompany an equal and opposite force or torque on the base frame. Indicate whether to sense that exerted by the base frame on the follower frame or that exerted by the follower frame on the base frame.

Frame on which to resolve the vector components of a measurement. Frames with different orientations give different vector components for the same measurement. Indicate whether to get those components from the axes of the base frame or from the axes of the follower frame. The choice matters only in joints with rotational degrees of freedom.

Dynamic variable to measure. Constraint forces counter translation on the locked axes of the joint while allowing it on the free axes of its primitives. Select to output the constraint force vector through port fc.

Dynamic variable to measure. Constraint torques counter rotation on the locked axes of the joint while allowing it on the free axes of its primitives. Select to output the constraint torque vector through port tc.

Dynamic variable to measure. The total force is a sum across all joint primitives over all sources—actuation inputs, internal springs and dampers, joint position limits, and kinematic constraints. Select to output the total force vector through port ft.

Dynamic variable to measure. The total torque is a sum across all joint primitives over all sources—actuation inputs, internal springs and dampers, joint position limits, and kinematic constraints. Select to output the total torque vector through port tt.