simscape.multibody.RevolutePrimitiveInternalMechanics Class

R2026b

Namespace: simscape.multibody

Internal mechanics for revolute joint primitive

Since R2026b

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Description

Use an object of the simscape.multibody.RevolutePrimitiveInternalMechanics class to specify the internal spring and damper mechanics of a revolute joint primitive. To configure internal mechanics, assign a RevolutePrimitiveInternalMechanics object to the InternalMechanics property of a simscape.multibody.RevolutePrimitive object.

Class Attributes

Sealed
true
ConstructOnLoad
true

For information on class attributes, see Class Attributes.

Creation

Description

im = simscape.multibody.RevolutePrimitiveInternalMechanics creates an internal mechanics specification for a revolute joint primitive with default property values.

im = simscape.multibody.RevolutePrimitiveInternalMechanics(springEquilibriumPosition,spring,damper) creates an internal mechanics specification with the specified equilibrium position, spring, and damper.

example

Properties

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Equilibrium position of the internal spring, specified as a simscape.Value object that must have a scalar and angle unit. The spring produces zero torque when the joint primitive position equals this value.

Linear rotational spring, specified as a simscape.multibody.LinearRotationalSpring object.

Linear rotational damper, specified as a simscape.multibody.LinearRotationalDamper object.

Examples

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This example shows how to create an internal mechanics specification with a spring and damper for a revolute joint primitive.

Create a spring with a stiffness of 50 N*m/rad and a damper with a coefficient of 5 N*m/(rad/s).

spring = simscape.multibody.LinearRotationalSpring(simscape.Value(50,"N*m/rad"));
damper = simscape.multibody.LinearRotationalDamper(simscape.Value(5,"N*m/(rad/s)"));

Create an internal mechanics specification with a spring equilibrium position of 0 deg, the spring, and the damper.

im = simscape.multibody.RevolutePrimitiveInternalMechanics( ...
    simscape.Value(0,"deg"), spring, damper)

im =
  RevolutePrimitiveInternalMechanics with properties:

    SpringEquilibriumPosition: 0 (deg)
                       Spring: [1x1 simscape.multibody.LinearRotationalSpring]
                       Damper: [1x1 simscape.multibody.LinearRotationalDamper]

Assign the internal mechanics to the revolute primitive of a revolute joint.

rj = simscape.multibody.RevoluteJoint;
rj.Rz.InternalMechanics = im;

Version History

Introduced in R2026b

See Also

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