Revolute joint (1 rotational degree-of-freedom, 2 states)
Library
Mechanics/Planar/Joints
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.
Note, this Revolute joint can be used together with the blocks from the palette LoopJoints for modeling of kinematic loops.
Parameters

- phi_offset [rad] : Relative angle offset (angle = phi + phi_offset) (phi_offset): Scalar.
- initType [-] : Type of initial value for [phi,w,z] (0=guess,1=fixed) (initType): Vector of Size 3.
- phi_start [rad] : Initial value of rotation angle phi (phi_start): Scalar.
- w_start [rad/s] : Initial value of relative angular velocity w = der(phi) (w_start): Scalar.
- z_start [rad/s2] : Initial value of relative angular acceleration z = der(w) (z_start): Scalar.
Ports
- Port 1 at left position: implicit input fixedport numbered 1.
- Port 1 at right position: implicit output fixedport numbered 1.