simscape.multibody.JointPrimitive Class

Namespace: simscape.multibody

Abstract base class to construct joint primitives

Since R2022a

Description

simscape.multibody.JointPrimitive is the abstract base class for joint primitives, such as prismatic and revolute primitives. Joint primitives are the building blocks for joints. To construct a joint primitive, use a subclass of the simscape.multibody.JointPrimitive class, such as simscape.multibody.PrismaticPrimitive or simscape.multibody.RevolutePrimitive.

The JointPrimitive class has two properties. The DegreesOfFreedom property indicates the degrees of freedom between the base and follower frames of the joint primitive. The ForceLaws property shows the force law applied to the joint primitive. See simscape.multibody.JointForceLaw class for more information about how to specify a force or torque for a joint primitive.

Class Attributes

Abstract	true
ConstructOnLoad	true
RestrictsSubclassing	true

For information on class attributes, see Class Attributes.

Properties

DegreesOfFreedom — Degrees of freedom of joint primitive

positive integer

Degrees of freedom between the base and follower frames of the joint primitive, returned as a positive integer.

Attributes:

GetAccess	public
NonCopyable	true

Data Types: double

ForceLaws — Force law applied to joint primitive

JointForceLaw array (default) | object of subclass of simscape.multibody.JointForceLaw class

Force law applied to the joint primitive, specified as an object of one subclass of the simscape.multibody.JointForceLaw class. Only objects of the simscape.multibody.PrismaticPrimitive, simscape.multibody.RevolutePrimitive, and simscape.multibody.SphericalPrimitive classes support the ForceLaws property.

Attributes:

GetAccess	public
SetAccess	public
NonCopyable	true

Version History

Introduced in R2022a