Main Content

simscape.multibody.SixDofJoint class

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

Construct bushing joint

Description

Use an object of the simscape.multibody.SixDofJoint class to construct a joint with six degrees of freedom. You can envision a six-DOF joint as a Cartesian joint followed by a spherical joint. The follower frame can have a 3-D transformation with respect to the base frame. The transformation contains three sequential translations and an unconstrained 3-D rotation, as shown in the image.

Joint Transformation Sequence of a Six-DOF Joint

The translations are along the x, y, and z axes of the base frame, respectively. Before the rotation, the axes of the follower are parallel to the corresponding axes of the base frame. The 3-D rotation is with respect to the follower frame formed after the translations.

The properties of the SixDofJoint object contains three simscape.multibody.PrismaticPrimitive objects and one simscape.multibody.SphericalPrimitive object.

Class Attributes

Sealed
true
ConstructOnLoad
true
RestrictsSubclassing
true

For information on class attributes, see Class Attributes.

Creation

Description

sj = simscape.multibody.SixDofJoint constructs a six-DOF 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

Spherical primitive, returned as a simscape.multibody.SphercialPrimitive object.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Version History

Introduced in R2022a