How to understand "Total torque" acting on a revolute joint ?

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Fujihiro
Fujihiro 2016-12-12
回答： Steve Miller 2021-11-17
Hi, everyone.
I have trouble understanding the meaning of "Total torque".
In double pendulum (multi-body 2nd generation, Matlab) under gravity, when I tried to check the value of torque acting on the first revolute joint, there's 3 components. https://jp.mathworks.com/examples/simmechanics/mw/sm_product-sm_double_pendulum-assembling-parts-into-a-double-pendulum
I'd like to know the the torque around y axis as shown in this Figure... I think "tty" means the "τ" that I'd like to check... am I right ?

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回答（1 个）

Steve Miller
Steve Miller 2021-11-17
The total torque acting at a joint includes contributions from actuation, constraint, and internal torques. For an explanation of those terms, look at this documentation page which explains them in detail.
https://www.mathworks.com/help/physmod/sm/ug/sense-forces-and-torques-at-joints.html
--Steve

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