LIBRARY

Cylindrical

Cylindrical joint: combined prismatic and revolute along/around the same axis.

Allows one translational and one rotational degree of freedom along axis n.

This component extends from PartialTwoFrames This component extends from Renderable

Usage

MultibodyComponents.Cylindrical(render=true, color=world_default_joint_color(), specular_coefficient=1.5, n=[1, 0, 0], cylinder_diameter=world_default_joint_width())

Parameters:

Name	Description	Units	Default value
statePriority		–	10
render		–	true
color		–	world_defau...int_color()
specular_coefficient		–	1.5
n	Joint axis resolved in frame_a (= same as in frame_b)	–	[1, 0, 0]
cylinder_diameter	Diameter of the cylinder in animations	–	world_defau...int_width()

Connectors

• frame_a - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

• frame_b - Frame3D is the fundamental 3D connector used for 6DOF motion. Most components have one or several Frame

connectors that can be connected together (Frame3D)

Variables

Name	Description	Units
s	Translational displacement	m
phi	Rotation angle	rad
v	Translational velocity	m/s
w	Angular velocity	rad/s
a	Translational acceleration	m/s2
wd	Angular acceleration	rad/s2

Behavior

Source

"""
Cylindrical joint: combined prismatic and revolute along/around the same axis.

Allows one translational and one rotational degree of freedom along axis `n`.
"""
component Cylindrical
  extends PartialTwoFrames()
  extends Renderable(color = world_default_joint_color())
  prismatic = Prismatic(final n = n, render = false)
  revolute = Revolute(final n = n, render = false)
  # Visualization shape
  cylinder_shape = CylinderShape(render = render, color = color, r = frame_a.r_0, R = transpose(frame_a.R), length_direction = n, length = s, width = cylinder_diameter, height = cylinder_diameter)
  structural parameter statePriority::Integer = 10
  "Joint axis resolved in frame_a (= same as in frame_b)"
  parameter n::Real[3] = [1, 0, 0]
  "Diameter of the cylinder in animations"
  parameter cylinder_diameter::Real = world_default_joint_width()
  "Translational displacement"
  variable s::Length(statePriority = statePriority)
  "Rotation angle"
  variable phi::Angle(statePriority = statePriority)
  "Translational velocity"
  variable v::Velocity(statePriority = statePriority)
  "Angular velocity"
  variable w::AngularVelocity(statePriority = statePriority)
  "Translational acceleration"
  variable a::Acceleration
  "Angular acceleration"
  variable wd::AngularAcceleration
relations
  phi = revolute.phi
  w = der(phi)
  wd = der(w)
  s = prismatic.s
  v = der(s)
  a = der(v)
  connect(frame_a, prismatic.frame_a)
  connect(prismatic.frame_b, revolute.frame_a)
  connect(revolute.frame_b, frame_b)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/Cylindrical.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 280,
        "rot": 0,
        "attrs": {"font-size": "160"}
      }
    ]
  }
}
end

Flattened Source

"""
Cylindrical joint: combined prismatic and revolute along/around the same axis.

Allows one translational and one rotational degree of freedom along axis `n`.
"""
component Cylindrical
  frame_a = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": -50, "y1": 450, "x2": 50, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  frame_b = Frame3D() {
    "Dyad": {
      "placement": {
        "diagram": {"iconName": "default", "x1": 950, "y1": 450, "x2": 1050, "y2": 550, "rot": 0}
      },
      "tags": []
    }
  }
  parameter render::Boolean = true
  parameter color::Real[4] = [0.5, 0.5, 0.5, 1.0]
  parameter specular_coefficient::Real = 1.5
  prismatic = Prismatic(final n = n, render = false)
  revolute = Revolute(final n = n, render = false)
  # Visualization shape
  cylinder_shape = CylinderShape(render = render, color = color, r = frame_a.r_0, R = transpose(frame_a.R), length_direction = n, length = s, width = cylinder_diameter, height = cylinder_diameter)
  structural parameter statePriority::Integer = 10
  "Joint axis resolved in frame_a (= same as in frame_b)"
  parameter n::Real[3] = [1, 0, 0]
  "Diameter of the cylinder in animations"
  parameter cylinder_diameter::Real = world_default_joint_width()
  "Translational displacement"
  variable s::Length(statePriority = statePriority)
  "Rotation angle"
  variable phi::Angle(statePriority = statePriority)
  "Translational velocity"
  variable v::Velocity(statePriority = statePriority)
  "Angular velocity"
  variable w::AngularVelocity(statePriority = statePriority)
  "Translational acceleration"
  variable a::Acceleration
  "Angular acceleration"
  variable wd::AngularAcceleration
relations
  phi = revolute.phi
  w = der(phi)
  wd = der(w)
  s = prismatic.s
  v = der(s)
  a = der(v)
  connect(frame_a, prismatic.frame_a)
  connect(prismatic.frame_b, revolute.frame_a)
  connect(revolute.frame_b, frame_b)
metadata {
  "Dyad": {
    "icons": {"default": "dyad://MultibodyComponents/Cylindrical.svg"},
    "labels": [
      {
        "label": "$(instance)",
        "x": 500,
        "y": 280,
        "rot": 0,
        "attrs": {"font-size": "160"}
      }
    ]
  }
}
end

Test Cases

No test cases defined.

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