Construct spherical spring-damper force law
Use an object of the
simscape.multibody.SphericalSpringDamper class to
construct a spherical spring-damper force law. You can use the force law to apply a pure
torque to a
The spherical spring-damper force law is a vector force law. The deviation between the current and equilibrium position is expressed as
|Relative rotation, specified as a vector.|
|Equilibrium position of a spherical primitive, specified as a vector.|
|Current position of the spherical primitive, specified as a vector that represents a 3-D rotation from the follower to the base frame of the primitive.|
The relative rotation can be parameterized by a natural angle-axis pair. The angle, , is a scalar angle in the range of [0,180] degree, and the axis, , is a unit vector along the axis. Therefore, the torque is expressed as
|Applied torque, specified as a vector.|
|Natural axis of the rotation, specified as a vector. For more information about
the natural axis, see |
|Natural angle of the rotation. For more information about the natural angle,
|Spherical primitive 3-D angular velocity, specified as a vector.|
For information on class attributes, see Class Attributes.
constructs a spherical spring-damper force law with default values.
ssd = simscape.multibody.SphericalSpringDamper
EquilibriumPosition — Equilibrium position of spring
simscape.multibody.ZeroRotation object (default) | objects of the subclasses of the
Equilibrium position of the spherical spring, specified as an object of a subclass
simscape.multibody.Rotation class. The torque is zero when the primitive
position is at the equilibrium position.
SpringStiffness — Stiffness of spring
simscape.Value(0,"N*m/deg") (default) |
Stiffness of the spherical spring, specified as a
simscape.Value object that represents a scalar with a unit of torque/angle.
The scalar is a measure of how hard the spring pushes the primitive position toward the
equilibrium position and must be nonnegative.
DampingCoefficient — Damping coefficient of spring
simscape.Value(0,"N*m/(deg/s)") (default) |
,"Torque/angular velocity unit")
Damping coefficient of the spherical damper, specified as a
simscape.Value object that represents a scalar with a unit of torque/angular
velocity. The scalar is a measure of how hard the damper resists the motion of a
primitive and must be nonnegative.
Introduced in R2022a