Questions about Revolute Joint in Simscape Multi Body.

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fmo2641
fmo2641 2021-1-29
回答： Mario Castro 2022-9-21
I have question regarding the revolute joint in simscape multibody .
  1. What are the the input units when inputing position? (my guess is rads)
  2. What is the units for the output?
  3. How can I set an initial positon for my simulation that is independent of a controller? I have tried editing "State Targets/ Specify Position Target" with no luck.

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回答（2 个）

Amanpreetsingh Arora
Following are the answers to your queries on Revolute Joint block:
1. What are the the input units when inputing position?
The input unit is inherited from the input physical signal itself. If there is no unit, radians is assumed.
2. What is the units for the output?
Radians by default. However, it can be converted to other units using "PS-Simulink Converter".
3. How can I set an initial positon for my simulation that is independent of a controller?
"State Targets/ Specify Position Target" is the correct parameter for this purpose. Can you share your model where modifying this parameter does not work? There might be some other part of your model that is enforcing an initial condition on the joint. Did you try setting "State Targets/ Specify Position Target/Priority" to "High (desired)"?
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Amanpreetsingh Arora
Amanpreetsingh Arora 2021-2-3
In case of model "PT_TF_Sim_RL2", you are providing a motion input to the joints and therefore during simulation it is obtaining the initial condition from the input profile. You can check in Mechanics Explorer that values from "State Targets" are used only when the diagram is updated (using Ctrl-D) but during simulation the values are obtained from the input profile.
In this case, you will have to specify the initial condition at the motion input using the "IC" block. Refer to the following documentation for information on "IC" block.
https://in.mathworks.com/help/simulink/slref/ic.html
fmo2641
fmo2641 2021-2-10
Will using IC allow me to remove the conditions remove state targets ?

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Mario Castro
Mario Castro 2022-9-21
When using a torque input, which are the units the Revolute Joint expect the signal to be? N*m?

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