Revolute

A revolute joint creates a frame that is rotated relative to an existing frame about an axis defined in a specified reference frame. The angular component can be constant valued, or a degree of freedom (DOF) may be generated. If the DOF form is chosen, then an optional rotational stiffness, damping, and equilibrium angle can be used to include rotational spring-damper physics in the joint.

Keyword Arguments

param str name

Name given to the joint, default is uppercase characters in alphabetical order (A, B, C, …)

param str ref_point_key

Point at which the joint is displayed

param str ref_frame_key

Reference frame in which the components of the rotation axis are defined

param str is_form

‘constant’ or ‘degree of freedom’

Rotation Axis Components

param numeric x

Component of the rotation axis measured in the x-axis of the reference frame

param numeric y

Component of the rotation axis measured in the y-axis of the reference frame

param numeric z

Component of the rotation axis measured in the z-axis of the reference frame

Initial States

param numeric value

Initial value for the generalized coordinate if is_form == ‘degree of freedom’

param numeric rate

Initial value for the generalized speed if is_form == ‘degree of freedom’

Spring Parameters

param numeric k

Spring constant

param numeric c

Damping constant

param numeric equilibrium

Equilibrium angle