Joint with three revolute and three prismatic joint primitives
The Six-DoF block represents a composite joint with three translational degrees of freedom (DoFs) as three prismatic primitives and three rotational DoFs as one spherical primitives. There are no constraints among the primitives. Unlike Bushing, Six-DoF represents the rotational DoFs as one spherical, rather than as three revolutes.
Warning: A joint with three prismatic primitives becomes singular if two or three of the translation axes become parallel. The simulation stops with an error in this case.
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 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) port.
You specify the joint primitive axes, if any, in the Joint dialog.
This Joint block is assembled and places restrictions on the connected Body CSs.
If the Joint has one or more prismatic primitives, the origins of the connected Body CSs must lie in the span of the prismatic axes:
|Number of Prismatic Primitives||Span of Primitive Axes|
|One||Along the primitive axis|
|Two||In the plane of the primitive axes|
|Three||Anywhere in three-dimensional space|
The dialog has two active areas, Connection parameters and Parameters.
The base (B)-follower (F) Body sequence determines the sense of positive motion. Positive translation is the follower moving in the direction of the translation axis. Positive spherical motion is the follower rotating in the right-handed sense as shown in the Spherical block figure.
When you connect the base (B) connector port on the Six-DoF 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, Six-DoF Base and Follower Body Connector Ports.
The base Body is automatically connected to the first joint
P1 in the primitive list in Parameters.
When you connect the follower (F) connector port on the Six-DoF 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, Six-DoF Base and Follower Body Connector Ports.
The follower Body is automatically connected to the last joint
S in the primitive list in Parameters.
Using this spinner menu, you can set the number of extra connector
ports needed for connecting Joint Actuator and Joint Sensor blocks
to this Joint. The default is
The motion of prismatic primitives is specified in linear units. The motion of spherical primitives is specified by a dimensionless quaternion.
Six-DoF Base and Follower Body Connector Ports
Switch between the Axes and Advanced tabs.
The entries on the Axes tab are required. Each DoF primitive in Six-DoF has an entry line. These lines specify the direction of the axes of action of the DoFs that the Six-DoF represents.
The primitive list states the names and types of joint primitives
that make up the Six-DoF block: prismatic primitives
and spherical primitive
Enter here as a three-component vector the directional axes defining the allowed motions of these primitives and their corresponding DoFs:
Prismatic: axis of translation
Spherical: field is not active
The default vectors are shown in the dialog above. The axis is a directed vector whose overall sign matters.
To prevent singularities and simulation errors, no two of the prismatic axes can be parallel.
Using the pull-down menu, choose the coordinate system (World,
the base Body CS, or the follower Body CS) whose coordinate axes the
vector axis of action is oriented with respect to. This CS also determines
the absolute meaning of forces/torques and motion along/about the
joint axis. The default is
The Advanced tab is optional. You use it to control the way Simscape™ Multibody™ simulation interprets the topology of your schematic diagram.
In a closed loop, the simulation internally and automatically cuts one and only one joint.
If you want this particular joint to be weighted preferentially for cutting during the simulation, select the check box. The default is not selected.
See Modeling Degrees of Freedom for more on representing DoFs with Joints.