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Revolute

Revolute Joint: allows rotation about the z-axis

	Description
	The Revolute component allows a rotational motion around an axis in the z-direction. The $K_{s}$ and $K_{d}$ parameters model spring and damping constants, respectively, for the rotation. The $θ_{0}$ parameter specifies the unstretched angle of the rotational spring.

Connections

Name	Description	Modelica ID
${frame}_{a}$	inboard frame	frame_a
${frame}_{b}$	outboard frame	frame_b
${flange}_{b}$	rotation of joint	flange_b

Parameters

Name	Default	Units	Description	Modelica ID
$K_{s}$	$0$	$N \frac{m}{rad}$	Spring constant	Kspring
$φ_{0}$	$0$	$rad$	Unstretched angle of the rotational spring	Ang0
$K_{d}$	$0$	$N m \frac{s}{rad}$	Damping constant	Kdamper
${IC}_{θ, ω}$	$ignore$		Indicates whether to ignore, try to enforce, or strictly enforce the rotational initial conditions	MechRotTree
$θ_{0}$	$0$	$rad$	Initial angle of the joint at the start of the simulation (expressed about $e_{1}$ )	InitAng
$ω_{0}$	$0$	$\frac{rad}{s}$	Initial angular velocity of the joint at the start of the simulation (expressed about $e_{1}$ )	InitAngVel

See Also

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