Joint with misaligned base and follower axes containing one revolute and one prismatic joint primitives
The Disassembled Cylindrical block represents a composite joint, one translational and one rotational degrees of freedom (DoF) along and about a pair of specified misaligned axes between two bodies. Simscape™ Multibody™ simulation automatically assembles (aligns) the two axes at simulation start when it defines a machine's assembled configuration.
A cylindrical joint is composite, with two DoFs and a single specified axis: a prismatic primitive translating along the axis, and a revolute primitive rotating about the axis. There are no constraints between the two primitives.
Disassembled Cylindrical Axes of Follower (blue) and Base (red)
A Joint block represents the relative degrees of freedom between two bodies, not the bodies themselves.
You must connect any Joint block to two and only two Body blocks, the base and the follower. All Joints have a default of two connector ports for these connections, defining the direction of joint motion (base to follower). You connect each side of the Joint block to these Body blocks at a Body coordinate system (CS) point.
You specify the joint primitive axes, if any, in the Joint dialog. The two disassembled primitive joint axes are associated, in order, with the base and follower Bodies, respectively.
You cannot connect an Actuator or Sensor to a Disassembled Joint.
You can only use a Disassembled Joint block within a closed loop. One loop can have no more than one disassembled joint.
The dialog has two active areas, Connection parameters and Parameters.
When you connect the base (B) connector port on the Disassembled Cylindrical 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 Cylindrical Base and Follower Body Connector Ports.
When you connect the follower (F) connector port on the Disassembled Cylindrical 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 Cylindrical Base and Follower Body Connector Ports.
Disassembled Cylindrical Base and Follower Body Connector Ports
There is one Axes tab.
The entries on the Axes tab are required. They specify the directions of the two misaligned axes of the translational-rotational DoFs that the Disassembled Cylindrical represents.
This column automatically displays the names of the two misaligned rotation axes attached to base and follower bodies, respectively.
Enter here as two three-component vectors the two misaligned
directional axes along and about which the base and follower bodies
respectively can translate and rotate. The default vectors are
0 0] and
[0 1 0], respectively. The axes
are directed vectors whose overall signs matter.
Using the pull-down menu, choose the coordinate systems (World,
the base Body CS, or the follower Body CS) whose coordinate axes the
two vector axes of translation-rotation are oriented with respect
to. The defaults are
See Modeling Degrees of Freedom for more on representing DoFs with Disassembled Joints.