What type of Joint is a Straight Slot ?

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Dennis Tan
Dennis Tan on 8 Feb 2011
Bar revolves at pt A. End of length is the straight slot which connects to a fix linear actuator perpendicular to the bar.
actuator linear pull stroke. clevis joint translate in straight slot.
what type of joint is this straight slot. and how to couple?

Answers (1)

Arnaud Miege
Arnaud Miege on 15 Apr 2011
If I understand correctly, you want to model a joint with some clearance, is that right? The trick is to measure the position and velocity of the joint, and then use a collision force law, which provides a restoring stifness (and damping) when the penetration (position) goes outside a defined range, e.g:
F = 0 if abs(x) <= x_0, k*(x-x0)+b*x_dot when abs(x) > x_0.
similar to what's in the "Backlash Actuation" subsystem of mech_gears_backlash or in the "Contact Force" subsystem of mech_bouncing_ball.
HTH,
Arnaud
  1 Comment
Arnaud Miege
Arnaud Miege on 15 Apr 2011
PS: probably best to use a custom joint with one revolute and one prismatic primitive, and apply the restoring force or backlash actuation on the prismatic one.

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