Elastic Joint¶
Elastic joints implement a coupling between the source and target interface with linear elasticity and viscous damping properties.
Definition¶
Interfaces¶
Elastic joint links are defined by two arbitrary interfaces.
Recommended link settings¶
Use ground for source |
arbitrary |
Location master |
arbitrary |
Orientation master |
arbitrary |
Parameters¶
Stiffness¶
Parameter |
Unit |
Description |
|---|---|---|
u |
N/m |
Stiffness in u direction |
v |
N/m |
Stiffness in v direction |
w |
N/m |
Stiffness in w direction |
ru |
Nm/rad |
Rotational stiffness around u axis |
rv |
Nm/rad |
Rotational stiffness around v axis |
rw |
Nm/rad |
Rotational stiffness around w axis |
Viscous damping¶
Parameter |
Unit |
Description |
|---|---|---|
u |
Ns/m |
Damping in u direction |
v |
Ns/m |
Damping in v direction |
w |
Ns/m |
Damping in w direction |
ru |
Nms/rad |
Rotational damping around u axis |
rv |
Nms/rad |
Rotational damping around v axis |
rw |
Nms/rad |
Rotational damping around w axis |
Hystertic damping¶
Parameter |
Unit |
Description |
|---|---|---|
u |
None |
Damping in u direction |
v |
None |
Damping in v direction |
w |
None |
Damping in w direction |
ru |
None |
Rotational damping around u axis |
rv |
None |
Rotational damping around v axis |
rw |
None |
Rotational damping around w axis |