Rotational Spring

A rotational spring/damper induces an attractive moment between two frames about the rotation axis corresponding to the relative orientation of the frames. The moment magnitude is

M = k θ + c θ’

where k is the spring stiffness, θ is the angle between the two frames, c is the damping constant, and θ’ is the differential angular speed between the two frames.

Keyword Arguments

param str ref_point_key

Key for the point where the rotational spring is visualized.

param str first_frame_key

Key for the first frame.

param str second_frame_key

Key for the second frame.

param k

Parameter corresponding to the spring stiffness constant.

type k

str or numeric

param c

Parameter corresponding to the damping constant.

type c

str or numeric

return str

Message describing the created spring