Joint allowing one rotational degree of freedom about a given axis
A revolute joint, sometimes called a pin or hinge, is shown in the diagram below with the two bodies and body-fixed reference frames that it connects. A revolute joint allows a single relative rotation of the two frames; this joint type prevents all of the other relative rotations and translations. In the diagram shown below, the joint angle, q, represents the relative orientation of the end frame, x2y2z2, with respect to the start frame, x1y1z1. Both z1⁢and z2⁢remain parallel to the joint axis during the joint rotation in this example.
Joint inboard frame
Joint outboard frame
Inertial reference frame for 1-D rotational components
Rotation of joint. Connects to 1-D rotational components.
Axis about which the joint allows rotational motion, expressed in the inboard frame
Unstretched angle of the rotational spring
Indicates whether MapleSim ignores, tries to enforce, or strictly enforces the rotational initial conditions
Initial rotation of the joint at the start of the simulation, expressed about the e^1axis
Initial angular velocity of the joint at the start of the simulation, expressed about the e^1axis
Joints and Motions
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