ActuatedRevolute

Actuated revolute joint used in loops (1 rotational degree-of-freedom, no states)

Library

Mechanics/Planar/LoopJoints

Description

This is a joint where frame_b (right) rotates with respect to frame_a (left). The counterclockwise rotation is described by an angle phi. For phi=0 the two frames coincide.

Two 1-dimensional mechanical flanges bearing (top left) and axis (top right),  connected to blocks of the palette Mechanics/Rotational, can be used to drive the joint.

Note, this is a special ActuatedRevolute joint and it can be used in kinematic loops only. Exactly three joints of the palette LoopJoints have to be used in each kinematic loop.

Parameters

    ActuatedRevolute_0

  • phi_offset [rad] : Relative angle offset (angle = phi + phi_offset) (phi_offset): Scalar.

Ports

  • Port 1 at left position: implicit input fixedport numbered 1.
  • Port 1 at top position: implicit input fixedport numbered 2.
  • Port 1 at right position: implicit output fixedport numbered 1.
  • Port 2 at top position: implicit output fixedport numbered 2.

See Also