 Spherical - MapleSim Help

Spherical

Joint allowing three rotational degrees of freedom Description A spherical joint, sometimes called a ball-and-socket joint, is shown in the diagram below with two reference frames at either end of the connection: ${x}_{1}{y}_{1}$${z}_{1}$on body 1 and${z}_{2}$ on body 2. The spherical joint restricts the relative motion of the two frames to a pure rotation about the common origin; this joint type does not allow relative translation of the two frames. Connections

 Name Description ${\mathrm{frame}}_{a}$ Joint inboard frame ${\mathrm{frame}}_{b}$ Joint outboard frame

Parameters

 Symbol Default Units Description Modelica ID ${\mathrm{Type}}_{\mathrm{θ}}$ - 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 ${\mathrm{IC}}_{\mathrm{θ},\mathrm{ω}}$ Ignore - Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the rotational initial conditions MechRotTree ${\stackrel{&conjugate0;}{\theta }}_{0}$ $\mathrm{rad}$ Initial rotation of the joint at the start of the simulation, based on the ${\mathbit{Type}}_{\mathbf{\theta }}$ parameter value InitAng ${\stackrel{&conjugate0;}{\omega }}_{0}$ $\frac{\mathrm{rad}}{s}$ Initial velocity of the joint at the start of the simulation, based on the ${\mathbit{Type}}_{\mathbf{ω}}$ parameter value InitAngVel