Prescribed Rotation - MapleSim Help

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Prescribed Rotation

Motion driver that converts input signals into sequential rotational motion

	Description
	A prescribed rotational motion driver is identical to a Spherical joint, except that the joint rotations are prescribed by input signals, rather than being free to vary. The driver assumes that the inputs are C1 continous (i.e. continuous through to angular velocity).

Connections

Name	Description
${frame}_{a}$	Joint inboard frame
${frame}_{b}$	Joint outboard frame
$PRInputA$	Real, C1 continuous signal input specifying the rotation about the axis specified by the $A - {axis}_{}$ parameter
$PRInputB$	Real, C1 continuous signal input specifying the rotation about the axis specified by the $B - axis$ parameter
$PRInputC$	Real, C1 continuous signal input specifying the rotation about the axis specified by the $C - axis$ parameter

Parameters

Symbol	Default	Units	Description	Modelica ID
$A - {axis}_{}$	$⟨1, 0, 0⟩$		Axis about which rotation A is applied, expressed in inboard frame.	RotA
$B - axis$	$⟨0, 1, 0⟩$		Axis about which rotation B is applied, expressed in frame resulting from A rotation.	RotB
$C - axis$	$⟨0, 0, 1⟩$		Axis about which rotation C is applied, expressed in frame resulting from B rotation.	RotC

	See Also
	Joints and Motions Spherical Multibody Overview

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