simscape.multibody.PlanarJoint Class

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

Construct planar joint

Since R2022a

Description

Use an object of the simscape.multibody.PlanarJoint class to construct a planar joint. The object models a 2-D transformation of the follower frame with respect to the base frame in the xy-plane of the base frame. The transformation includes two translations and one rotation that follow the sequence, as shown in the image.

First, the follower frame moves along the x and y axes of the base frame, respectively, and then rotates about the z-axis of the follower frame generated after the translations. The origin of the follower frame lies on the xy-plane of the base frame, and the z-axes of the base and follower frames remain parallel.

The properties of the PlanarJoint object contain two simscape.multibody.PrismaticPrimitive objects and one simscape.multibody.RevolutePrimitive object.

Class Attributes

Sealed	true
ConstructOnLoad	true
RestrictsSubclassing	true

For information on class attributes, see Class Attributes.

Creation

Description

pj = simscape.multibody.PlanarJoint constructs a planar joint with default values.

Properties

Px — Prismatic primitive along x-axis

simscape.multibody.PrismaticPrimitive object

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

Attributes:

GetAccess	public
SetAccess	public
NonCopyable	true

Py — Prismatic primitive along y-axis

simscape.multibody.PrismaticPrimitive object

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

Attributes:

GetAccess	public
SetAccess	public
NonCopyable	true

Rz — Revolute primitive about z-axis

simscape.multibody.RevolutePrimitive object

Revolute primitive about the z-axis of the follower frame, returned as a simscape.multibody.RevolutePrimitive object. The revolute primitive corresponds to the rotation of the follower frame with respect to the base frame about the z-axis of the follower frame generated after the translations.

Attributes:

GetAccess	public
SetAccess	public
NonCopyable	true

Version History

Introduced in R2022a