simscape.multibody.SphericalPrimitiveInternalMechanics Class

R2026b

Namespace: simscape.multibody

Internal mechanics for spherical joint primitive

Since R2026b

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Description

Use an object of the simscape.multibody.SphericalPrimitiveInternalMechanics class to specify the internal spring and damper mechanics of a spherical joint primitive. To configure internal mechanics, assign a SphericalPrimitiveInternalMechanics object to the InternalMechanics property of a simscape.multibody.SphericalPrimitive object.

Class Attributes

Sealed
true
ConstructOnLoad
true

For information on class attributes, see Class Attributes.

Creation

Description

im = simscape.multibody.SphericalPrimitiveInternalMechanics creates an internal mechanics specification for a spherical joint primitive with default property values.

im = simscape.multibody.SphericalPrimitiveInternalMechanics(springEquilibriumPosition,spring,damper) creates an internal mechanics specification with the specified equilibrium position, spring, and damper.

example

Properties

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Orientation of the equilibrium frame with respect to the base frame, specified as a simscape.multibody.Rotation object or a simscape.multibody.None object. The equilibrium frame remains fixed relative to the base frame. When the follower and equilibrium frames are aligned, the spring torque of the spherical primitive is zero. A None object indicates that the equilibrium frame aligns with the base frame.

Linear rotational spring, specified as a simscape.multibody.LinearRotationalSpring object. The spring produces a torque that attempts to align the follower frame with the equilibrium frame.

Linear rotational damper, specified as a simscape.multibody.LinearRotationalDamper object.

Examples

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This example shows how to create an internal mechanics specification with a spring, damper, and equilibrium position for a spherical joint primitive.

Create a spring with a stiffness of 20 N*m/rad and a damper with a coefficient of 2 N*m/(rad/s).

spring = simscape.multibody.LinearRotationalSpring(simscape.Value(20,"N*m/rad"));
damper = simscape.multibody.LinearRotationalDamper(simscape.Value(2,"N*m/(rad/s)"));

Create an internal mechanics specification with the equilibrium position set to a 45-degree rotation about the z-axis, the spring, and the damper.

eqPos = simscape.multibody.QuaternionRotation([0.9239 0 0 0.3827]);
im = simscape.multibody.SphericalPrimitiveInternalMechanics(eqPos, spring, damper)

im =
  SphericalPrimitiveInternalMechanics with properties:

    SpringEquilibriumPosition: [1x1 simscape.multibody.QuaternionRotation]
                       Spring: [1x1 simscape.multibody.LinearRotationalSpring]
                       Damper: [1x1 simscape.multibody.LinearRotationalDamper]

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

sj = simscape.multibody.SphericalJoint;
sj.S.InternalMechanics = im;

Version History

Introduced in R2026b

See Also

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