Main Content

simscape.multibody.CartesianJoint class

Package: simscape.multibody
Superclasses: simscape.multibody.Joint

Construct Cartesian joint

Description

Use an object of the simscape.multibody.CartesianJoint class to construct a Cartesian joint. The properties of the object contain three simscape.multibody.PrismaticPrimitive objects that model a 3-D transformation of the follower frame with respect to the base frame. The transformation contains three sequential translations that are along the x, y, and z axes of the follower frame, respectively, as shown in the image.

Joint Transformation Sequence of Cartesian Joint

The axes of the follower frame are parallel with the corresponding axes of the base frame.

Class Attributes

Sealed
true
ConstructOnLoad
true
RestrictsSubclassing
true

For information on class attributes, see Class Attributes.

Creation

Description

cj = simscape.multibody.CartesianJoint constructs a Cartesian joint with default values.

Properties

expand all

Prismatic primitive along the x-axis of the follower frame, returned as a simscape.multibody.PrismaticPrimitive object. The prismatic primitive corresponds to the translation of the follower frame with respect to the base frame along the x-axis of the follower frame.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Prismatic primitive along the y-axis of the follower frame, returned as a simscape.multibody.PrismaticPrimitive object. The prismatic primitive corresponds to the translation of the follower frame with respect to the base frame along the y-axis of the follower frame generated after the translation along the x-axis.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Prismatic primitive along the z-axis of the follower frame, returned as a simscape.multibody.PrismaticPrimitive object. The prismatic primitive corresponds to the translation of the follower frame with respect to the base frame along the z-axis of the follower frame generated after the translation along the y-axis.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Version History

Introduced in R2022a