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simscape.multibody.ConstantVelocityJoint class

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

Construct constant-velocity joint

Description

Use an object of the simscape.multibody.ConstantVelocityJoint class to construct a constant-velocity joint. The CV property of the object contains a single simscape.multibody.ConstantVelocityPrimitive object that has two degrees of freedom. The ConstantVelocityJoint object models a specialized coupling between two shafts such that the spin rates of the shafts are exactly matched even when the shafts are not aligned.

During simulation, the origins of the follower and base frames remain coincident. To specify the position and velocity targets for the bend angle and azimuth of a constant-velocity joint, use a simscape.op.OperatingPoint object. Note that you can specify the targets only for the bend angle, but only specifying targets for the azimuth is not allowed.

Class Attributes

Sealed
true
ConstructOnLoad
true
RestrictsSubclassing
true

For information on class attributes, see Class Attributes.

Creation

Description

cvj = simscape.multibody.ConstantVelocityPrimitive constructs a constant-velocity joint object with default values.

Properties

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Constant-velocity primitive of a simscape.multibody.ConstantVelocityJoint object, returned as a simscape.multibody.ConstantVelocityPrimitive object.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Examples

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  1. Use a simscape.multibody.ConstantVelocityJoint object to create a constant-velocity joint.

    joint = simscape.multibody.ConstantVelocityJoint;
  2. Before specifying the state targets of the ConstantVelocityJoint object, you need to add the object into a simscape.multibody.Multibody object using the addComponent method. Create a Multibody object.

    mb = simscape.multibody.Multibody;
    addComponent(mb,"MyJoint",joint);
    
  3. To specify the targets of the object, create an empty operating point.

    op = simscape.op.OperatingPoint;
  4. Add high-priority position targets for the bend angle and azimuth to the operating point.

    op("MyJoint/CV/q/b") = simscape.op.Target(simscape.Value(15,"deg"),"High");
    op("MyJoint/CV/q/a") = simscape.op.Target(simscape.Value(90,"deg"),"High");
  5. Add high-priority velocity targets for the bend angle and azimuth to the operating point.

    op("MyJoint/CV/w/b") = simscape.op.Target(simscape.Value(30,"deg/s"),"High");
    op("MyJoint/CV/w/a") = simscape.op.Target(simscape.Value(50,"deg/s"),"High");

Version History

Introduced in R2022a