 Revolute - MapleSim Help

Revolute

Joint allowing one rotational degree of freedom about a given axis Description A revolute joint, sometimes called a pin or hinge, is shown in the diagram below with the two bodies and body-fixed reference frames that it connects. A revolute joint allows a single relative rotation of the two frames; this joint type prevents all of the other relative rotations and translations. In the diagram shown below, the joint angle, q, represents the relative orientation of the end frame, ${x}_{2}{y}_{2}$${z}_{2}$, with respect to the start frame, ${x}_{1}{y}_{1}$${z}_{1}$. Both ${z}_{1}$and ${z}_{2}$remain parallel to the joint axis during the joint rotation in this example. Connections

 Name Description ${\mathrm{frame}}_{a}$ Joint inboard frame ${\mathrm{frame}}_{b}$ Joint outboard frame ${\mathrm{flange}}_{a}$ Inertial reference frame for 1-D rotational components ${\mathrm{flange}}_{b}$ Rotation of joint. Connects to 1-D rotational components.

Parameters

 Symbol Default Units Description Modelica ID ${\stackrel{^}{e}}_{1}$ $⟨0,0,1⟩$ - Axis about which the joint allows rotational motion, expressed in the inboard frame RotAxis ${K}_{s}$ $0$ $\frac{N\cdot m}{\mathrm{rad}}$ Spring constant Kspring ${\phi }_{0}$ $0$ $\mathrm{rad}$ Unstretched angle of the rotational spring Ang0 ${K}_{ⅆ}$ $0$ $\frac{N\cdot m\cdot s}{\mathrm{rad}}$ Damping constant Kdamper ${\mathrm{IC}}_{\mathrm{θ},\mathrm{ω}}$ Ignore - Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the rotational initial conditions MechRotTree ${\theta }_{0}$ 0 $\mathrm{rad}$ Initial rotation of the joint at the start of the simulation, expressed about the ${\stackrel{^}{e}}_{1}$axis InitOffset ${\omega }_{0}$ 0 $\frac{\mathrm{rad}}{s}$ Initial angular velocity of the joint at the start of the simulation, expressed about the ${\stackrel{^}{e}}_{1}$axis InitAngVel