Revolute joint in Simscape

In a simplified bike model using the first generation Simmechanics toolbox, there are two revolute joints. First one is between the rare wheel and the back portion of the chassis and the second one is between the handle bar and the front portion of the chassis. In this case, the axes of rotation of these two revolute joints (the axis of rotation of the rear wheel and the steering axis) that are attached to a given frame (chassis) are orthogonal to each other.

However, using the present version of Simscape Multibody toolbox, it is difficult to see the way to achieve this, given that the axis of the revolute joint is to be aligned only to the z-axis of the given frame. Here, the problem arises because if the axis of a revolute joint is oriented towards z-axis then the other revolute joint should be aligned to the y-axis or x-axis.

What is the solution for this problem?

Answer 1

[Yifeng Tang]

I hope I understood your question correctly that you are trying to attach two revolute joints in different orientations to one solid. The Rigid Transform block will help establish a new frame to align the joints. You can attach multiple frame transformation, translation and rotation, to a same solid, so it can have joints in different orientations and at different locations with other solids.