Prismatic joint (1 translational degree-of-freedom, 2 states)

Library
Mechanics/Planar/Joints
Description
This is a joint where frame_b (right) is translated with respect to frame_a (left). The translation is described by a relative distance s. For s=0 the two frames coincide.
Note, this Prismatic joint can be used together with the blocks from the palette LoopJoints for modeling of kinematic loops.
Parameters

- n [-] : Axis of translation resolved in frame_a (= same as in frame_b) (n): Vector of Size 2.
- s_offset [m] : Relative distance offset (distance between frame_a and frame_b = s_offset + s) (s_offset): Scalar.
- initType [-] : Type of initial value for [s,v,a] (0=guess,1=fixed) (initType): Vector of Size 3.
- s_start [m] : Initial value of distance s (s_start): Scalar.
- v_start [m/s] : Initial value of relative velocity v = der(s) (v_start): Scalar.
- a_start [m/s2] : Initial value of relative acceleration a = der(v) (a_start): Scalar.
Ports
- Port 1 at left position: implicit input fixedport numbered 1.
- Port 1 at right position: implicit output fixedport numbered 1.