Primitive joint with misaligned base and follower axes containing three rotational degrees of freedom
First Generation/Joints/Disassembled Joints
This content is specific to Simscape™ Multibody™ First Generation software. First-generation features are slated to be deprecated and should be avoided.
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. Simscape Multibody 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.
Disassembled Spherical Pivots 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 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
See Modeling Degrees of Freedom for more on representing DoFs with Disassembled Joints.