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How to rotate a body around x-axis in simscape?

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I have created one wheel model using simscape multibody. I have created a wheel and an axle using body geometry. The axle is along the x-axis and i want to rotate that wheel around x-axis. How to do it? because when i am using revolute joint, then it rotates the body around z-axis. So, which joint should be used to rotate the body around x-axis?

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Accepted Answer

Nicolas Schmit
Nicolas Schmit on 28 Sep 2017
Insert a rigid transform before and after the revolute joint. The first transform rotates +90 degree around the Y axis, while the second transform rotates -90 degree around the Y axis. The combination of the two rigid transforms and the revolute joint is equivalent to a revolute joint aligned with the X axis.

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More Answers (2)


Ameer Hamza
Ameer Hamza on 16 Jan 2021
I am designing the multilink manipulator in whiich I a have rotate the link from +X axis to -Xaxis. I have the used the revolute joint What should I give Rotation in the Rigid Transform.

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