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Class: simscape.multibody.CompiledMultibody
Namespace: simscape.multibody

Return acceleration of joint primitive

Since R2024a


[accel] = jointPrimitiveAcceleration(cmb,jointPrimitive,dynamicsResult) returns the acceleration of the specified joint primitive in the given dynamics results. The dynamicsResult argument represented by a simscape.multibody.DynamicsResult object contains the dynamics results of a multibody model. The object must be generated from the same simscape.multibody.CompiledMultibody object that represents cmb.

You can query the accelerations of these joint primitives:

  • Revolute primitive

  • Prismatic primitive

  • Spherical primitive

  • Lead Screw primitive

  • Constant Velocity primitive

For an example on how to query joint accelerations in a dynamics problem, see Examples.

Input Arguments

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Compiled multibody system, specified as a simscape.multibody.CompiledMultibody object.

Path of the joint primitive, specified as a string scalar or character vector. Separate the path elements by using forward slashes.

Example: "Bottom_Right_Joint/Rz"

Dynamics results of the multibody model, specified as a simscape.multibody.DynamicsResult object.

Output Arguments

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Acceleration of the joint primitive, returned as a simscape.Value object. The form of the value depends on the type of the joint primitive:

Primitive TypeType of Returned Position
Revolutesimscape.Value object that represents a scalar with a unit of angular acceleration
Prismaticsimscape.Value object that represents a scalar with a unit of linear acceleration
Sphericalsimscape.Value object that represents a 3-by-1 vector with a unit of angular acceleration. The vector is resolved in the follower frame.
Lead Screwsimscape.Value object that represents a scalar with a unit of angular acceleration
Constant Velocitysimscape.Value object that represents a 2-by-1 vector with a unit of angular acceleration, where the first element is the bend angle and the second element is the azimuth



To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2024a