Planar

A planar joint creates a point that is translated by two components coordinates defined in the reference frame, and a frame that is rotated relative to an existing frame about an axis that is normal to the two components. The components can be constant valued, or a three degrees of freedom (DOF) form may be generated. Optional stiffness, damping, and equilibrium coefficients can be used to include translational and rotational spring-damper physics in the joint.

Keyword Arguments

param str name

Name given to the joint, default is uppercase characters in alphabetical order (A, B, C, …)

param str ref_point_key

Start point from which the vector component of the joint is defined

param str ref_frame_key

Reference frame in which the translational and rotational displacement components are defined

param str normal_axis

‘Z’, ‘Y’, or ‘X’. Represents the axis about which rotation is defined, and normal to the plane in which the translational coordinates are defined. If ‘Z’, then the (x, y) axis pair of the reference frame will be used for the translational DOFs, if ‘Y’ then (z, x), and if ‘X’ then (y, z)

param str velocity_in

‘Reference Frame’ or ‘Created Frame’

Initial Values

param numeric initial_t0

Initial value in the 0^{th} translational coordinate

param numeric initial_t1

Initial value in the 1^{st} translational coordinate

param numeric initial_r

Initial value for rotation

param numeric rate_t0

Initial speed in the 0^{th} translational coordinate

param numeric rate_t1

Initial speed in the 1^{st} translational coordinate

param numeric rate_r

Initial speed for rotation

Spring Parameters

param numeric kt0

Stiffness in the 0^{th} translational coordinate

param numeric kt1

Stiffness in the 1^{st} translational coordinate

param numeric kr

Stiffness for rotation

param numeric ct0

Damping in the 0^{th} translational coordinate

param numeric ct1

Damping in the 1^{st} translational coordinate

param numeric cr

Rotational damping

param numeric equilibrium_t0

Equilibrium distance in the 0^{th} translational coordinate

param numeric equilibrium_t1

Equilibrium distance in the 1^{st} translational coordinate

param numeric equilibrium_r

Equilibrium angle