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.

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

$K_{\mathrm{s}}$

$0$

$\frac{N\cdot m}{\mathrm{rad}}$

Spring constant

Kspring

${\phi }_0$

$0$

$\mathrm{rad}$

Unstretched angle of the rotational spring

Ang0

$K_{\mathrm{\ⅆ}}$

$0$

$\frac{N\cdot m\cdot s}{\mathrm{rad}}$

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