Planar

Joint allowing two translational and one rotational degree of freedom (the rotational degree of freedom is about an axis perpendicular to the two translational axes)

 Description A planar joint is shown in the diagram below with the two bodies that it connects. A planar joint allows the two connected frames to translate along two axes and rotate about a third axis that is orthogonal to the two translational axes; this joint type prevents all of the other relative motions of the two frames. In the diagram below, the joint displacement vector, r, and joint angle, q, represent the relative translation and rotation respectively of the end frame, ${x}_{2}{y}_{2}$${z}_{2}$, with respect to the start frame, ${x}_{1}{y}_{1}$${z}_{1}$.  In this example, the ${x}_{1}{y}_{1}$ and ${x}_{2}{y}_{2}$ frames are constrained by the joint to remain in the same plane.

Connections

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

Parameters

 Symbol Default Units Description Modelica ID ${\stackrel{^}{e}}_{1}$ $⟨1,0,0⟩$ - First axis along which the joint allows translational motion, expressed in the inboard frame TranAxis1 ${\stackrel{^}{e}}_{2}$ $⟨0,1,0⟩$ - Second axis along which the joint allows translational motion. It is orthogonal to the ${\stackrel{^}{e}}_{1}$axis and expressed in the inboard frame TranAxis2 ${\mathrm{IC}}_{s,v}$ Ignore - Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the translational initial conditions MechTranTree ${\stackrel{&conjugate0;}{s}}_{0}$ $\left[0,0\right]$ $m$ Initial displacement of the joint at the start of the simulation, expressed along the ${\stackrel{^}{e}}_{1}$ and ${\stackrel{^}{e}}_{2}$ axes respectively InitPos ${\stackrel{&conjugate0;}{v}}_{0}$ $\left[0,0\right]$ $\frac{m}{s}$ Initial velocity of the joint at the start of the simulation, expressed along the ${\stackrel{^}{e}}_{1}$ and ${\stackrel{^}{e}}_{2}$ axes respectively InitVel ${\mathrm{IC}}_{\mathrm{θ},\mathrm{ω}}$ 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 ${\stackrel{^}{e}}_{1}×{\stackrel{^}{e}}_{2}$ InitAng ${\omega }_{0}$ $0$ $\frac{\mathrm{rad}}{s}$ Initial velocity of the joint at the start of the simulation, expressed about ${\stackrel{^}{e}}_{1}×{\stackrel{^}{e}}_{2}$ InitAngVel