Name

Description

${\mathrm{frame}}_a$

Joint inboard frame

${\mathrm{frame}}_b$

Joint outboard frame

Symbol

Default

Units

Description

Modelica ID

${\mathrm{Type}}_v$

$\mathrm{Inboard}$

Indicates whether the initial velocity is expressed in the inboard or outboard frame

VelType

${\mathrm{Type}}_{\mathrm{\θ}}$

$\left[1\,2\, 3\right]$

Indicates the sequence of body-fixed rotations used to describe the initial orientation of the joint.  For example, $\left[1\,2\,3\right]$ refers to sequential rotations about the x, then y, then z axis (123 - Euler angles)

RotType

${\mathrm{Type}}_{\mathrm{\ω}}$

$\mathrm{Euler}$

Indicates whether the initial angular velocity is expressed in the inboard or outboard frame. If Euler is selected, the initial angular velocities are assumed to be the direct derivatives of the Euler angles.

AngVelType

${\mathrm{IC}}_{r\,v}$

Ignore

Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the translational initial conditions

MechTranTree

${\stackrel{\&conjugate0;}{r}}_0$

$\left[0\,0\,0\right]$

$m$

Initial displacement of the joint at the start of the simulation, expressed along the x-, y-, and z-axis of the inboard frame respectively

InitPos

${\stackrel{\&conjugate0;}{v}}_0$

$\left[0\,0\,0\right]$

$\frac{m}{s}$

Initial velocity of the joint at the start of the simulation, expressed along the x-, y-, and z-axis of the inboard frame respectively

InitVel

${\mathrm{IC}}_{\mathrm{\θ}\,\mathrm{\ω}}$

Ignore

Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the rotational initial conditions

MechRotTree

${\stackrel{\&conjugate0;}{\theta }}_0$

$\left[0\,0\, 0\right]$

$\mathrm{rad}$

Initial rotation of the joint at the start of the simulation, based on the ${\mathrm{Type}}_{\mathrm{\theta }}$ parameter value

InitAng

${\stackrel{\&conjugate0;}{\omega }}_0$

$\left[0\,0\, 0\right]$

$\frac{\mathrm{rad}}{s}$

Initial angular velocity of the joint at the start of the simulation, based on the ${\mathrm{Type}}_{\mathrm{\ω}}$ parameter value

InitAngVel