Joint

 

The lists of Joints include a result set about each joint. Especially, some joints report their relative coordinates, velocities and accelerations.

 

Figure 1  Definition of joint plot data

 

     Pos_Relative: The relative coordinates as shown in Table 1.

 

Joint

Index

Definition

Revolute

Pos1

The rotational angle of the z-axis of the action marker with respect to the z-axis of base marker.

Translational

Pos1

The translational displacement of the action marker relative to the base marker along the z-axis of base marker.

Spherical

Pos1

The Psi angle when the orientation of action marker with respect to the base marker is expressed in the Euler Psi - Theta -Phi angle.

Pos2

The Theta angle when the orientation of action marker with respect to the base marker is expressed in the Euler Psi - Theta-Phi angle.

Pos3

The Phi angle when the orientation of action marker with respect to the base marker is expressed in the Euler Psi - Theta -Phi angle.

Cylindrical

Pos1

The translational displacement of action marker relative to the base marker along the z-axis of base marker.

Pos2

The rotational angle of the z-axis of action marker with respect to the z-axis of base marker.

Universal

Pos1

The rotational angle of the x-axis of action marker with respect to the z-axis of base marker.

Pos2

The rotational angle of the x-axis of base marker with respect to the z-axis of action marker.

Planar

Pos1

The translational displacement of action marker relative to the base marker along the x-axis of base marker.

Pos2

The translational displacement of action marker relative to the base marker along the y-axis of base marker.

Pos3

The rotational angle of the z-axis of action marker with respect to the z-axis of base marker.

Screw

Pos1

The relative displacement from the base marker to the action marker in the z-axis of base marker.

Atpoint

 

Pos1

The Psi angle when the orientation of action marker with respect to the base marker is expressed in the Euler Psi - Theta -Phi angle.

Pos2

The Theta angle when the orientation of action marker with respect to the base marker is expressed in the Euler Psi - Theta -Phi angle.

Pos3

The Phi angle when the orientation of action marker with respect to the base marker is expressed in the Euler Psi - Theta -Phi angle.

Table 1  Definition of relative coordinates

 

     Vel_Relative: The relative velocities as shown in Table 2.

     Acc_Relative: The relative accelerations as shown in Table 2.

 

Joint

Index

Definition

Revolute

Vel1

Acc1

The rotational velocity and acceleration of the z-axis of action marker with respect to the z-axis of base marker.

Translational

Vel1

Acc1

The translational velocity and the acceleration of action marker relative to the base marker along the z-axis of base marker.

Spherical

Vel1

Acc1

The x component of the rotational velocity and the acceleration of action marker relative to the base marker in the base marker reference frame.

Vel2

Acc2

The y component of rotational velocity and the acceleration of action marker relative to the base marker in the base marker reference frame.

Vel3

Acc3

The z component of the rotational velocity and the acceleration of action marker relative to the base marker in the base marker reference frame.

Cylindrical

Vel1

Acc1

The translational velocity and the acceleration of action marker relative to the base marker along the z-axis of base marker.

Vel2

Acc3

The rotational velocity and the acceleration to the z-axis of action marker with respect to the z-axis of base marker.

Universal

Vel1

Acc1

The z component of the rotational velocity and the acceleration of action marker relative to the base marker in the reference frame Vel2 of base marker.

Vel2

Acc2

The z component of the rotational velocity and the acceleration of base marker relative to the action marker in the reference frame of action marker.

Planar

Vel1

Acc1

The translational velocity and the acceleration of action marker relative to the base marker along the x-axis of base marker.

Vel2

Acc2

The translational velocity and the acceleration of action marker relative to the base marker along the y-axis of base marker.

Vel3

Acc3

The rotational velocity and acceleration of the z-axis of action marker with respect to the z-axis of base marker

Screw

Vel1

Acc1

The translational velocity and the acceleration of action marker relative to the base marker along the z-axis of base marker

Atpoint

Vel1

Acc1

The x component of the rotational velocity and the acceleration of action marker relative to base marker in the reference frame of base marker.

Vel2

Acc2

The y component of the rotational velocity and the acceleration of action marker relative to the base marker in the reference frame of base marker.

Vel3

Acc3

The z component of the rotational velocity and the acceleration of action marker relative to the base marker in the reference frame of base marker.

Table 2  Definition of relative velocities and accelerations

 

     FM_Reaction_Force: The magnitude of the translational force acting at the action marker.

     FX_Reaction_Force, FY_Reaction_Force, FZ_ Reaction_Force:

    PTCV, CVCV: The x, y, and z components of the translational force applied at the action contact point in the inertia reference frame.

img30.gif

 

    The other joints: The x, y, and z components of the translational force acting at the action marker in the reference frame of base marker.

img21.gif

 

     TM_ Reaction_Force: The magnitude of the torque acting at the action marker.

     TX_ Reaction_Force, TY_ Reaction_Force, TZ_ Reaction_Force:

    PTCV, CVCV: The x, y, and z components of the rotational torque applied at the action contact point in the inertia reference frame. The values are always zero.

img31.gif

 

    The other joints: The x, y, and z components of the torque acting at the action marker in the reference frame of base marker.

img23.gif

 

     Driving_Force/Torque: The driving force or torque generated by the only specified Motion of Revolute, Translational, Cylindrical, Spherical, and Universal Joints.

     Friction_Force/Torque: The friction force or torque generated by the specified Friction of Revolute and Translational Joints.

     Joint1_Driving_Force/Torque: The driving force or torque of Revolute and Translational Joints on which generated by the specified Gear.

     Joint2_Driving_Force/Torque: The driven force or torque of Revolute and Translational Joints on which generated by the specified Gear.

     Driver_Driving_Force/Torque: The driving force or torque of Revolute, Translational and Cylindrical Joints on which generated by the specified Coupler.

     Coupled_Driving_Force/Torque: The driven force or torque of Revolute, Translational and Cylindrical Joints on which generated by the specified Coupler.

Note: The driving force or torque applied on the joint should equal to the driving force and torque due to all couplers, gears and motions defined on the joint.

 

     DM_FloatBase: For PTCV and CVCV, the magnitude of translational displacement of the base contact point with respect to the reference frame of base body.

     DX_FloatBase, DY_FloatBase, DZ_FloatBase:  For PTCV and CVCV, the x, y and z components of translational displacement of the base contact point with respect to the reference frame of base body.

     POS_TC: For PTCV, the curved distance between start point of curve and action marker.

     Reaction_Force_Tangential: For PTCV, the translational force acting at the action marker in the tangent vector to a curve.

     Reaction_Force_Normal: For PTCV, the translational force acting at the action in the vector perpendicular to the tangent vector to a curve.

     Reaction_Force_Binormal: For PTCV the translational force acting at the action marker in the vector perpendicular to both the tangent and normal vectors to a curve.

     DM_FloatAction: For CVCV, the magnitude of translational displacement of the action contact point with respect to the reference frame of the action body.

     DX_FloatAction, DY_FloatAction, DZ_FloatAction: For CVCV, the x, y and z components of translational displacement of the action contact point with respect to the reference frame of action body.

     NF_Contact: For CVCV, the translational force acting at the action contact point in the vector perpendicular to the tangent vector to action curve.

     Base_Curve_Curvature: For CVCV, it becomes the curvature of base curve on the curve point.

For a space curve given parametrically in Cartesian coordinates by f(u) = (x(u), y(u), z(u)), the curvature is

where the dot denotes differentiation with respect to the parameter u.

 

     Action_Curve_Curvature: For CVCV, it becomes the curvature of action curve on the curve point.