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simscape.multibody.UniversalJoint Class

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

Construct universal joint

Since R2022a

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Description

Use an object of the simscape.multibody.UniversalJoint class to construct a universal joint. Similar to the simscape.multibody.ConstantVelocityJoint object, the UniversalJoint object models a coupling between two spinning shafts. The two shafts align with the z-axes of the base and follower frames and rotate at the same average angular velocity. However, the relative velocities of the shafts fluctuate if the shafts are not aligned. The fluctuation increases as the bend angle increases.

The properties of the UniversalJoint object contain two simscape.multibody.RevolutePrimitive objects that represent two sequential rotations. The rotations specify the orientation of the follower frame with respect to the base frame. The first rotation is about the x-axis of the follower frame, and the second rotation is about the y-axis of the follower frame generated after the first rotation, as shown in the image.

Sequence of Primitives for a Universal Joint

Note that the origins of the base and follower frames remain coincident.

Class Attributes

Sealed
true
ConstructOnLoad
true
RestrictsSubclassing
true

For information on class attributes, see Class Attributes.

Creation

Description

uj = simscape.multibody.UniversalJoint constructs a universal joint with default values.

Properties

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Revolute primitive about the x-axis of the follower frame, returned as a simscape.multibody.RevolutePrimitive object. The revolute primitive corresponds to the rotation of the follower frame with respect to the base frame about the x-axis of the follower frame.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Revolute primitive about the y-axis of the follower frame, returned as a simscape.multibody.RevolutePrimitive object. The revolute primitive corresponds to the rotation of the follower frame with respect to the base frame about the y-axis of the follower frame generated after the rotation about the x-axis.

Attributes:

GetAccess
public
SetAccess
public
NonCopyable
true

Version History

Introduced in R2022a

See Also

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