simscape.multibody.PrismaticJoint Class

Namespace: simscape.multibody
Superclasses: simscape.multibody.Joint

Construct prismatic joint

Since R2022a

Description

Use an object of the simscape.multibody.PrismaticJoint class to construct a prismatic joint. The Pz property of the object contains a single simscape.multibody.PrismaticPrimitive object that has one translational degree of freedom along the z-axis of the base frame, as shown in the image.

Prismatic Primitive of the Prismatic Joint

Class Attributes

`Sealed`	`true`
`ConstructOnLoad`	`true`
`RestrictsSubclassing`	`true`

For information on class attributes, see Class Attributes.

Creation

Description

pj = simscape.multibody.PrismaticJoint constructs a prismatic joint with default values.

Properties

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`Pz` — Prismatic primitive along z-axis
`simscape.multibody.PrismaticPrimitive` object

Prismatic primitive along the z-axis of the base frame, returned as a simscape.multibody.PrismaticPrimitive object. The prismatic primitive corresponds to a translation of the follower frame with respect to the base frame along the z-axis of the base frame.

Attributes:

`GetAccess`	`public`
`SetAccess`	`public`
`NonCopyable`	`true`

Examples

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Specify the Force Law and State Targets for a Prismatic Joint

Use a simscape.multibody.PrismaticJoint object to create a prismatic joint.
```
joint = simscape.multibody.PrismaticJoint;
```
Use a simscape.multibody.AxialSpringDamper object to create an axial force law.
```
asd = simscape.multibody.AxialSpringDamper;
```

Specify the equilibrium position, spring stiffness, and damping coefficient of the force law by using simscape.Value objects.

asd.EquilibriumPosition = simscape.Value(20,"cm");
asd.SpringStiffness = simscape.Value(0.1,"N/cm");
asd.DampingCoefficient = simscape.Value(5e-3,"N/(cm/s)");

Assign the force law to the PrismaticJoint object.
```
joint.Pz.ForceLaws = asd;
```
Before specifying the state targets of the PrismaticJoint object, you need to add the object into a simscape.multibody.Multibody object by using the addComponent method. Create a Multibody object.
```
mb = simscape.multibody.Multibody;
addComponent(mb,"MyJoint",joint);
```
To specify the targets of the object, create an empty operating point.
```
op = simscape.op.OperatingPoint;
```
Add a high-priority position target for the prismatic primitive to the operating point. Note that if two targets are incompatible, the priority level determines which of the targets to satisfy.
```
op("MyJoint/Pz/q") = simscape.op.Target(simscape.Value(50,"cm"),"High");
```
Add a low-priority velocity target for the prismatic primitive to the operating point.
```
op("MyJoint/Pz/w") = simscape.op.Target(simscape.Value(10,"cm/s"),"Low");
```