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simscape.multibody.BushingJoint class

Package: simscape.multibody
Superclasses: simscape.multibody.Joint

Construct bushing joint

Description

Use an object of the simscape.multibody.BushingJoint class to construct a bushing joint. You can envision a bushing joint as a Cartesian joint followed by a gimbal joint. The follower frame can have an arbitrary rigid transformation with respect to the base frame. The transformation contains three sequential translations and three sequential rotations, as shown in the image.

Joint Transformation Sequence of a Bushing Joint

The translations are along the x, y, and z axes of the follower frame, respectively. Before the first rotation, the axes of the follower frame are parallel to the corresponding axes of the base frame. The rotations are about the x, y, and z axes of the follower frame.

Similar to the gimbal joint, the bushing joint has a kinematic singularity. See simscape.multibody.GimbalJoint for more details.

Class Attributes

Sealed
true
ConstructOnLoad
true
RestrictsSubclassing
true

For information on class attributes, see Class Attributes.

Creation

Description

bj = simscape.multibody.BushingJoint constructs a bushing joint with default values.

Properties

expand all

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

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

Prismatic primitive along the z-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 z-axis of the follower frame generated after the translation along the y-axis.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Revolute primitive about the x-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 x-axis of the follower frame generated after the translations.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Revolute primitive about the y-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 y-axis of the follower frame generated after the rotation about the x-axis.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

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 rotation about the y-axis.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Version History

Introduced in R2022a