jointPrimitiveAcceleration

Class: simscape.multibody.CompiledMultibody
Namespace: simscape.multibody

Return acceleration of joint primitive

Since R2024a

Syntax

[accel] = jointPrimitiveAcceleration(cmb,jointPrimitive,dynamicsResult)

Description

[accel] = jointPrimitiveAcceleration(cmb,jointPrimitive,dynamicsResult) returns the acceleration of the specified joint primitive in the given dynamics results. The dynamicsResult argument represented by a simscape.multibody.DynamicsResult object contains the dynamics results of a multibody model. The object must be generated from the same simscape.multibody.CompiledMultibody object that represents cmb.

You can query the accelerations of these joint primitives:

• Revolute primitive

• Prismatic primitive

• Spherical primitive

• Lead Screw primitive

• Constant Velocity primitive

For an example on how to query joint accelerations in a dynamics problem, see Examples.

Input Arguments

cmb — Compiled multibody system

simscape.multibody.CompiledMultibody object

Compiled multibody system, specified as a simscape.multibody.CompiledMultibody object.

jointPrimitive — Path of joint primitive

string scalar | character vector

Path of the joint primitive, specified as a string scalar or character vector. Separate the path elements by using forward slashes.

Example: "Bottom_Right_Joint/Rz"

dynamicsResult — Dynamics results of multibody model

simscape.multibody.DynamicsResult object

Dynamics results of the multibody model, specified as a simscape.multibody.DynamicsResult object.

Output Arguments

accel — Acceleration of joint primitive

simscape.Value object

Acceleration of the joint primitive, returned as a simscape.Value object. The form of the value depends on the type of the joint primitive:

Primitive Type	Type of Returned Position
Revolute	simscape.Value object that represents a scalar with a unit of angular acceleration
Prismatic	simscape.Value object that represents a scalar with a unit of linear acceleration
Spherical	simscape.Value object that represents a 3-by-1 vector with a unit of angular acceleration. The vector is resolved in the follower frame.
Lead Screw	simscape.Value object that represents a scalar with a unit of angular acceleration
Constant Velocity	simscape.Value object that represents a 2-by-1 vector with a unit of angular acceleration, where the first element is the bend angle and the second element is the azimuth

Attributes

Access

public

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2024a