Joint with zero primitives
This block represents a joint with zero degrees of freedom. It contains no joint primitives. Base and follower frames, each connected to a separate rigid body, are coincident for all time. The block dialog box provides sensing options for constraint and total forces and torques.
Joint Degrees of Freedom
This block supports code generation for real-time simulation tasks. Certain blocks and block settings may be more suitable for simulation on a real-time device. For suggestions on how to improve real-time simulation performance, use the Simulink® Performance Advisor (Simulink). Suggestions include ways to reduce model complexity where helpful and to decrease numerical stiffness.
Select Analysis > Performance Tools > Performance
Advisor in the Simulink menu bar to
open the Performance Advisor. Set the Activity parameter
Execute real-time application to view
suggestions specific to real-time simulation performance. Expand the Real-Time node
in the tree view pane to select performance checks specific to Simscape™ products.
Select the composite, or joint-wide, forces and torques to sense. These are forces and torques that act not at individual joint primitives but at the whole joint. Options include constraint and total forces and torques.
During simulation, the block computes the selected composite forces and torques acting between the base and follower port frames. It outputs these variables using physical signal output ports. Check the port labels to identify the output variables at different ports.
Forces and torques acting at joints do so in pairs. Newton's third law of motion requires that every action be accompanied by an equal and opposite reaction. If the base frame of a joint exerts a force or torque on the follower frame, then the follower frame must exert an equal and opposite force or torque on the base frame.
Select whether to sense the composite forces and torques exerted by the base frame on the follower frame or vice versa. The force and torque vector components are positive if they point along the positive X, Y, and Z axes of the selected resolution frame.
You can resolve a vector quantity into Cartesian components in different frames. If the resolution frames have different orientations, then the measured components are themselves different—even though the vector quantity remains the same.
Select the frame in which to resolve the sensed force and torque
variables. Possible resolution frames include
The block outputs the Cartesian components of the sensed force and
torque vectors as observed in this frame.
Joint blocks with fewer than three translational degrees of freedom forbid motion along one or more axes. For example, the Gimbal Joint block forbids translation along all axes. To prevent translation along an axis, a joint block applies a constraint force between its base and follower port frames. Constraint forces are orthogonal to joint translation axes and therefore do no work.
Select the check box to compute and output the 3-D constraint force vector [fcx, fcy, fcz] acting at the joint. Only constraint force components that are orthogonal to the joint translational degrees of freedom have nonzero values. Selecting this option causes the block to expose physical signal port fc.
Joint blocks with fewer than three rotational degrees of freedom forbid motion about one or more axes. For example, the Cartesian Joint block forbids rotation about all axes. To prevent rotation about an axis, a joint block applies a constraint torque between its base and follower port frames. Constraint torques are orthogonal to joint rotation axes and therefore do no work.
Select the check box to compute and output the 3-D constraint torque vector [tcx, tcy, tcz] acting at the joint. Only constraint torque components that are orthogonal to the joint rotational degrees of freedom have nonzero values. Selecting this option causes the block to expose physical signal port tc.
A joint block generally applies various forces between its port frames:
Actuation forces that drive prismatic joint primitives.
Internal spring and damper forces that resist motion at prismatic joint primitives.
Constraint forces that forbid motion in directions orthogonal to prismatic joint primitives.
The net sum of the different force components equals the total force acting between the joint port frames. Select the check box to compute and output the 3-D total force vector [ftx, fty, ftz]. Selecting this option causes the block to expose physical signal port ft.
A joint block generally applies various torques between its port frames:
Actuation torques that drive revolute or spherical joint primitives.
Internal spring and damper torques that resist motion at revolute or spherical joint primitives.
Constraint torques that forbid motion in directions orthogonal to the revolute or spherical joint primitive axes.
The net sum of the different torque components equals the total torque acting at a joint. Select the check box to compute and output the 3-D total torque vector [ttx, tty, ttz]. Selecting this option causes the block to expose physical signal port tt.
This block has two frame ports. It also has optional physical signal ports for sensing dynamical variables such as forces, torques, and motion. You expose an optional port by selecting the sensing check box corresponding to that port.
B — Base frame
F — Follower frame
The following sensing ports provide the composite forces and torques acting on the joint:
fc — Constraint force
tc — Constraint torque
ft — Total force
tt — Total torque