Construct constant-velocity joint primitive
Use an object of the
simscape.multibody.ConstantVelocityPrimitive class to
construct a constant-velocity joint primitive. A constant-velocity joint primitive models a
specialized coupling between two shafts whose spin rates are exactly matched even when the
shafts are not aligned.
A constant-velocity primitive is parameterized by two angles: bend angle and azimuth. These angles define the relative orientation between the base and follower frames of the primitive. The azimuth specifies the rotation of the follower frame about the z-axis of the base frame and locates the plane in which the bend angle occurs. In the figure, the dashed line indicates the intersection between the plane of the bend angle and the xy-plane of the base frame. The bend angle specifies the orientation of the z-axis of the follower frame with respect to the z-axis of the base frame.
InternalState property of a
ConstantVelocityPrimitive object specifies how to represent the internal
state of the primitive. You can specify the property as either a z-y-z
rotation sequence or a quaternion.
For information on class attributes, see Class Attributes.
constructs a constant-velocity joint primitive with default values.
cvp = simscape.multibody.ConstantVelocityPrimitive
InternalState — Internal state representation
member (default) |
Internal state representation, specified as a member of the
simscape.multibody.ConstantVelocityInternalState class. The choice
does not affect the kinematics of the primitive. In common cases, using the
RotationSequence member results in faster simulations but induces a
kinematic singularity when the bend angle is zero. Using the
member does not suffer from a kinematic singularity when the bend angle is zero.
Introduced in R2022a