simscape.multibody.ConstantVelocityPrimitive Class

Namespace: simscape.multibody
Superclasses: simscape.multibody.JointPrimitive

Construct constant-velocity joint primitive

Since R2022a

Description

Use an object of the simscape.multibody.ConstantVelocityPrimitive class to construct a constant-velocity joint primitive. A constant-velocity joint primitive models a specialized coupling between two shafts whose spin rates are exactly matched even when the shafts are not aligned.

A constant-velocity primitive is parameterized by two angles: bend angle and azimuth. These angles define the relative orientation between the base and follower frames of the primitive. The azimuth specifies the rotation of the follower frame about the z-axis of the base frame and locates the plane in which the bend angle occurs. In the figure, the dashed line indicates the intersection between the plane of the bend angle and the xy-plane of the base frame. The bend angle specifies the orientation of the z-axis of the follower frame with respect to the z-axis of the base frame.

The InternalState property of a ConstantVelocityPrimitive object specifies how to represent the internal state of the primitive. You can specify the property as either a z-y-z rotation sequence or a quaternion.

Class Attributes

Sealed	true
ConstructOnLoad	true
RestrictsSubclassing	true

For information on class attributes, see Class Attributes.

Creation

Description

cvp = simscape.multibody.ConstantVelocityPrimitive constructs a constant-velocity joint primitive with default values.

Properties

InternalState — Internal state representation

simscape.multibody.ConstantVelocityInternalState.RotationSequence member (default) | simscape.multibody.ConstantVelocityInternalState.Quaternion member

Internal state representation, specified as a member of the simscape.multibody.ConstantVelocityInternalState class. The choice does not affect the kinematics of the primitive. In common cases, using the RotationSequence member results in faster simulations but induces a kinematic singularity when the bend angle is zero. Using the Quaternion member does not suffer from a kinematic singularity when the bend angle is zero.

Attributes:

GetAccess	public
SetAccess	public
NonCopyable	true

Version History

Introduced in R2022a