Prismatic

A prismatic joint creates a point that is translated relative to an existing point with vector components defined in a specified reference frame. The joint is analogous to creating a vector and point using the classic interface. The vector has a single translational degree of freedom (DOF) where the point can translate in the motion axis, which is one of the basis vectors of the reference frame. An optional linear stiffness, damping, and equilibrium distance can be used to include translational 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 motion axis is defined

param str motion_axis

Axis in which the translational motion is defined

Initial States

param numeric value

Initial value for the generalized coordinate

param numeric rate

Initial value for the generalized speed

Spring Parameters

param numeric k

Spring constant

param numeric c

Damping constant

param numeric equilibrium

Equilibrium distance

return str

Message describing the inputs used in creation of the joint