simscape.multibody.SixDofJoint Class

Namespace: simscape.multibody
Superclasses: simscape.multibody.Joint

Construct bushing joint

Since R2022a

Description

Use an object of the simscape.multibody.SixDofJoint class to construct a joint with six degrees of freedom. You can envision a six-DOF joint as a Cartesian joint followed by a spherical joint. The follower frame can have a 3-D transformation with respect to the base frame. The transformation contains three sequential translations and an unconstrained 3-D rotation, as shown in the image.

The translations are along the x, y, and z axes of the base frame, respectively. Before the rotation, the axes of the follower are parallel to the corresponding axes of the base frame. The 3-D rotation is with respect to the follower frame formed after the translations.

The properties of the SixDofJoint object contains three simscape.multibody.PrismaticPrimitive objects and one simscape.multibody.SphericalPrimitive object.

Class Attributes

Sealed	true
ConstructOnLoad	true
RestrictsSubclassing	true

For information on class attributes, see Class Attributes.

Creation

Description

sj = simscape.multibody.SixDofJoint constructs a six-DOF joint with default values.

Properties

Px — Prismatic primitive along x-axis

simscape.multibody.PrismaticPrimitive object

Prismatic primitive along the x-axis of the follower frame, returned as a simscape.multibody.PrismaticPrimitive object. The prismatic primitive corresponds to the translation of the follower frame with respect to the base frame along the x-axis of the follower frame.

Attributes:

GetAccess	public
SetAccess	public
NonCopyable	true

Py — Prismatic primitive along y-axis

simscape.multibody.PrismaticPrimitive object

Prismatic primitive along the y-axis of the follower frame, returned as a simscape.multibody.PrismaticPrimitive object. The prismatic primitive corresponds to the translation of the follower frame with respect to the base frame along the y-axis of the follower frame generated after the translation along the x-axis.

Attributes:

GetAccess	public
SetAccess	public
NonCopyable	true

Pz — Prismatic primitive along z-axis

simscape.multibody.PrismaticPrimitive object

Prismatic primitive along the z-axis of the follower frame, returned as a simscape.multibody.PrismaticPrimitive object. The prismatic primitive corresponds to the translation of the follower frame with respect to the base frame along the z-axis of the follower frame generated after the translation along the y-axis.

Attributes:

GetAccess	public
SetAccess	public
NonCopyable	true

S — Spherical primitive

simscape.multibody.SphercialPrimitive object

Spherical primitive, returned as a simscape.multibody.SphercialPrimitive object.

Attributes:

GetAccess	public
SetAccess	public
NonCopyable	true

Version History

Introduced in R2022a