simscape.multibody.LinearRotationalSpring Class

R2026b

Namespace: simscape.multibody

Linear rotational spring

Since R2026b

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Description

Use an object of the simscape.multibody.LinearRotationalSpring class to specify a linear rotational spring that produces a torque proportional to angular displacement. For example, you can assign a LinearRotationalSpring object to the Spring property of a simscape.multibody.RevolutePrimitiveInternalMechanics or simscape.multibody.SphericalPrimitiveInternalMechanics object to define the internal spring of a revolute or spherical primitive, where the spring torque is proportional to angular displacement from the equilibrium position.

Class Attributes

Sealed
true
ConstructOnLoad
true

For information on class attributes, see Class Attributes.

Creation

Description

spring = simscape.multibody.LinearRotationalSpring creates a linear rotational spring with a default stiffness of 0 N*m/rad.

spring = simscape.multibody.LinearRotationalSpring(stiffness) creates a linear rotational spring with the specified stiffness.

example

Properties

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Stiffness of the linear rotational spring, specified as a simscape.Value object that must have a scalar and torque per angle unit.

Example: simscape.Value(50, "N*m/rad")

Examples

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This example shows how to create a linear rotational spring and assign it to the internal mechanics of a revolute joint.

Create a linear rotational spring with a stiffness of 50 N*m/rad.

spring = simscape.multibody.LinearRotationalSpring(simscape.Value(50,"N*m/rad"))

spring =
  LinearRotationalSpring with properties:

    Stiffness: 50 (N*m/rad)

Create an internal mechanics specification for a revolute primitive and assign the spring.

im = simscape.multibody.RevolutePrimitiveInternalMechanics;
im.Spring = spring;
im.SpringEquilibriumPosition = simscape.Value(0,"deg");

Assign the internal mechanics to the revolute primitive of a revolute joint.

rj = simscape.multibody.RevoluteJoint;
rj.Rz.InternalMechanics = im;
rj.Rz.InternalMechanics

ans =
  RevolutePrimitiveInternalMechanics with properties:

    SpringEquilibriumPosition: 0 (deg)
                       Spring: [1x1 simscape.multibody.LinearRotationalSpring]
                       Damper: [1x1 simscape.multibody.LinearRotationalDamper]

Version History

Introduced in R2026b

See Also

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