Name | Description |
---|---|
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If a planar loop is cut by a standard revolute joint a singular system of equations results.
The parameter phi_offset defines an offset value for the revolute angle phi.
The parameter animation toggles the visualization of the element.
Type | Name | Default | Description |
---|---|---|---|
Boolean | animation | true | animate revolute as cylinder |
Position | n[3] | {0,0,1} | direction of revolute axis [m] |
Animation | |||
if animation = true | |||
Distance | cylinderLength | world3D.defaultJointLength | Length of cylinder representing the joint axis [m] |
Distance | cylinderDiameter | world3D.defaultJointWidth | Diameter of cylinder representing the joint axis [m] |
Color | cylinderColor[3] | world3D.defaultJointColor | Color of cylinder representing the joint axis |
model PlanarRevolute extends Mechanics3D.Joints.CutJoints.PlanarRevolute( redeclare Interfaces.IFrame_a frame_a, redeclare Interfaces.IFrame_b frame_b); protected Real weakener; Real RT[3,3]; equation when frame_a.contact then RT = transpose(frame_a.P.R); end when; frame_a.Vm = frame_b.Vm + weakener*RT*eN; frame_a.F*RT*eN = 0; frame_a.T = eN*0; frame_a.F + frame_b.F = zeros(3); frame_a.T + frame_b.T = zeros(3); end PlanarRevolute;