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simscape.multibody.GimbalJoint class

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

Construct gimbal joint

Description

Use an object of the simscape.multibody.GimbalJoint class to construct a gimbal joint. The properties of the object contain three simscape.multibody.RevolutePrimitive objects that model a 3-D rotation of the follower frame with respect to the base frame. To achieve the 3-D rotation, the gimbal joint has three sequential rotations, as shown in the image.

Joint Transformation Sequence of Gimbal Joint

The first rotation is about the x-axis of the follower frame, the second rotation is about the y-axis of the follower frame generated after the first rotation, and the third rotation is about the z-axis of the follower frame generated after the second rotation.

Gimbal joints have a kinematic singularity at configurations in which the second rotation is positive or negative 90 degrees. In these configurations, the first and third rotations axes are aligned and the joint looses a degree of freedom.

Class Attributes

Sealed
true
ConstructOnLoad
true
RestrictsSubclassing
true

For information on class attributes, see Class Attributes.

Creation

Description

gj = simscape.multibody.GimbalJoint constructs a gimbal joint with default values.

Properties

expand all

Revolute primitive about the x-axis of the follower frame, returned as a simscape.multibody.RevolutePrimitive object. The revolute primitive corresponds to the rotation of the follower frame with respect to the base frame about the x-axis of the follower frame.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Revolute primitive about the y-axis of the follower frame, returned as a simscape.multibody.RevolutePrimitive object. The revolute primitive corresponds to the rotation of the follower frame with respect to the base frame about the y-axis of the follower frame generated after the rotation about the x-axis.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Revolute primitive about the z-axis of the follower frame, returned as a simscape.multibody.RevolutePrimitive object. The revolute primitive corresponds to the rotation of the follower frame with respect to the base frame about the z-axis of the follower frame generated after the rotation about the y-axis.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Version History

Introduced in R2022a