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Represent disassembled spherical joint with three rotational degrees of freedom about dislocated pivots
Joints/Disassembled Joints
The Disassembled Spherical block represents three rotational degrees of freedom (DoF) about a pair of specified dislocated pivots at the two bodies, separated "ball-in-socket" joints. SimMechanics™ simulation automatically assembles (collocates) the spherical pivots at simulation start when it defines a machine's assembled configuration.
Two rotational DoFs specify a directional axis, and a third rotational DoF specifies rotation about that directional axis. (See the motion figure in the Spherical block reference page.) The sense of each rotational DoF is defined by the right-hand rule. Unlike the Gimbal block, the Disassembled Spherical block cannot become singular.
This block is disassembled: you must connect each side of the Joint block to a Body block at a Body coordinate system (CS) point, but the origins of these Body CSs (the dislocated pivots) do not need to be spatially collocated points.
You must connect any Joint block to two and only two Body blocks, and Joints have a default of two connector ports for connecting to base and follower Bodies. The disassembled joint pivots are associated with the base and follower Bodies, respectively.
You can only use a disassembled Joint block to close a loop. One loop must have no more than one disassembled joint. You cannot connect an Actuator or Sensor to a Disassembled Joint.
Disassembled Spherical Pivots of Follower (blue) and Base (red)
The dialog has one area, Connection parameters, which is inactive.
When you connect the base (B) connector port on the Disassembled Spherical block to a Body CS Port on a Body, this parameter is automatically reset to the name of this Body CS. See the following figure, Disassembled Spherical Base and Follower Body Connector Ports.
When you connect the base (F) connector port on the Disassembled Spherical block to a Body CS Port on a Body, this parameter is automatically reset to the name of this Body CS. See the following figure, Disassembled Spherical Base and Follower Body Connector Ports.
Disassembled Spherical Base and Follower Body Connector Ports
Disassembled Cylindrical, Disassembled Prismatic, Disassembled Revolute, Gimbal, Spherical
See Modeling Degrees of Freedom for more on representing DoFs with Disassembled Joints.
See Verifying Machine Topology and How SimMechanics™ Software Works for more on closing loops with disassembled joints.
| Disassembled Revolute | Distance Driver | |
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