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simscape.multibody.RevoluteJoint Class

Namespace: simscape.multibody
Superclasses: simscape.multibody.Joint

Construct revolute joint

Since R2022a

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Description

Use an object of the simscape.multibody.RevoluteJoint class to construct a revolute joint. The Rz property of the object contains a single simscape.multibody.RevolutePrimitive object that has one rotational degree of freedom about the z-axis of the base frame, as shown in the image.

Revolute Primitive of a Revolute Joint

Class Attributes

Sealed
true
ConstructOnLoad
true
RestrictsSubclassing
true

For information on class attributes, see Class Attributes.

Creation

Description

rj = simscape.multibody.RevoluteJoint constructs a revolute joint with default values.

Properties

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Revolute primitive about the z-axis of the base frame, returned as a simscape.multibody.RevolutePrimitive object. The revolute primitive corresponds to a rotation of the follower frame with respect to the base frame about the z-axis of the base frame.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Examples

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  1. Use a simscape.multibody.RevoluteJoint object to create a revolute joint.

    joint = simscape.multibody.RevoluteJoint;

  2. Use a simscape.multibody.TorsionalSpringDamper object to create a force law for the RevoluteJoint object.

    tsd = simscape.multibody.TorsionalSpringDamper;

  3. Specify the equilibrium position, spring stiffness, and damping coefficient of the force law by using simscape.Value objects.

    tsd.EquilibriumPosition = simscape.Value(90,"deg");
tsd.SpringStiffness = simscape.Value(0.1,"N*cm/deg");
tsd.DampingCoefficient = simscape.Value(5e-3,"N*cm/(deg/s)");

  4. Assign the specified force law to the RevoluteJoint object.

    joint.Rz.ForceLaws = tsd;

  5. Before specifying the state targets of the RevoluteJoint object, you need to add the object into a simscape.multibody.Multibody object by using the addComponent method. Create a Multibody object.

    mb = simscape.multibody.Multibody;
addComponent(mb,"MyJoint",joint);

  6. To specify the targets of the object, create an empty operating point.

    op = simscape.op.OperatingPoint;

  7. Add a high-priority position target for the primitive to the operating point. Note that if two targets are incompatible, the priority level determines which of the targets to satisfy.

    op("MyJoint/Rz/q") = simscape.op.Target(simscape.Value(30,"deg"),"High");

  8. Add a low-priority velocity target for the primitive to the operating point.

    op("MyJoint/Rz/w") = simscape.op.Target(simscape.Value(150,"deg/s"),"Low");

Version History

Introduced in R2022a

See Also

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