Revolute

A revolute joint creates a frame that is rotated relative to an existing frame about a motion axis defined in a specified reference frame. An optional rotational stiffness, damping, and equilibrium angle can be used to include 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

Point at which the joint is displayed

param str ref_frame_key

Reference frame in which the components of the rotation axis are defined

param str motion_axis

Axis in which the rotational 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 angle