Simscape multibody 移动关节

Prismatic joint 棱柱形关节(移动关节)
Parameters:参数
1、Prismatic Primitive: State Targets 状态目标
Specify the prismatic primitive state targets and their priority levels. A state target is the desired value for one of the joint state parameters—position and velocity. The priority level is the relative importance of a state target. It determines how precisely the target must be met. Use the Model Report tool in Mechanics Explorer to check the assembly status for each joint state target.
指定The prismatic primitive的状态目标及其优先级。状态目标是关节状态参数：位置和速度的期望值之一。优先级是状态目标的相对重要性。它决定了目标必须达到的精确程度。使用“力学资源管理器”中的“模型报告”工具检查每个关节状态目标的部件状态。
1.1、Specify Position Target ：初始位置
Select this option to specify the desired joint primitive position at time zero. This is the relative position, measured along the joint primitive axis, of the follower frame origin with respect to the base frame origin. The specified target is resolved in the base frame. Selecting this option exposes priority and value fields.
选择此选项可在时间零点指定所需的joint primitive的位置。这是沿the joint primitive axis测量从动件框架原点相对于基架原点的相对位置。指定的目标在基架中解析。选择此选项将展开优先级和值字段。
这是从动件框架原点相对于基架原点的相对位置，沿关节基本体轴测量。指定的目标在基架中解析。选择此选项将公开优先级和值字段。
1.2、Specify Velocity Target ：初始速度
Select this option to specify the desired joint primitive velocity at time zero. This is the relative velocity, measured along the joint primitive axis, of the follower frame origin with respect to the base frame origin. It is resolved in the base frame. Selecting this option exposes priority and value fields.
选择此选项可指定时间为零时所需的关节基本体速度。这是从动件框架原点相对于基架原点的相对速度，沿关节基本体轴测量。在基架中解决。选择此选项将公开优先级和值字段。
1.3、Priority
Select state target priority. This is the importance level assigned to the state target. If all state targets cannot be simultaneously satisfied, the priority level determines which targets to satisfy first and how closely to satisfy them. This option applies to both position and velocity state targets.
选择状态目标优先级。这是分配给状态目标的重要性级别。如果无法同时满足所有状态目标，则优先级将确定首先满足哪些目标以及满足这些目标的程度。此选项适用于位置和速度状态目标。
High (desired) 精确满足状态目标
Low (approximate) 近似满足状态目标
1.4、Value
Enter the state target numerical value. The default is 0. Select or enter a physical unit. The default is m for position and m/s for velocity.
输入状态目标数值。默认值为0。选择或输入物理单位。默认值为m表示位置，m/s表示速度。
2、Prismatic Primitive: Internal Mechanics 内部力学
Specify the prismatic primitive internal mechanics. Internal mechanics include linear spring forces, accounting for energy storage, and damping forces, accounting for energy dissipation. You can ignore internal mechanics by keeping spring stiffness and damping coefficient values at 0.
指定移动关节的内部力学。内部力学包括线性弹簧力、能量储存和阻尼力、能量耗散。通过将弹簧刚度和阻尼系数值保持为0，可以忽略内部力学。
2.1、Equilibrium Position： 平衡位置（即弹簧的原始长度）
Enter the spring equilibrium position. This is the distance between base and follower frame origins at which the spring force is zero. The default value is 0. Select or enter a physical unit. The default is m.
进入弹簧平衡位置。这是弹簧力为零的基体和从动件框架原点之间的距离。默认值为0。选择或输入物理单位。默认值为m。
2.2、Spring Stiffness 弹簧刚度
Enter the linear spring constant. This is the force required to displace the joint primitive by a unit distance. The default is 0. Select or enter a physical unit. The default is N/m.
输入线性弹簧常数。这是将关节基本体移动单位距离所需的力。默认值为0。选择或输入物理单位。默认为N/m。
2.3、Damping Coefficient 阻尼系数
Enter the linear damping coefficient. This is the force required to maintain a constant joint primitive velocity between base and follower frames. The default is 0. Select or enter a physical unit. The default is N/(m/s).
输入线性阻尼系数。这是保持基本框架和跟随框架之间的关节基本速度恒定所需的力。默认值为0。选择或输入物理单位。默认为N/（m/s）。
3、Prismatic Primitive: Limits 约束
Limit the range of motion of the joint primitive. Joint limits use spring-dampers to resist travel past the bounds of the range. A joint primitive can have a lower bound, an upper bound, both, or, in the default state, neither. The stiffer the spring, the harder the stop, or bounce, if oscillations arise. The stronger the damper, the larger the viscous losses that gradually lessen contact oscillations or, in overdamped primitives, keep them from forming altogether.
约束关节基本体的运动范围。关节约束使用弹簧阻尼器来抵抗超过范围的行程。joint primitive可以同时具有下限和上限，或者在默认状态下两者都不具有。弹簧越硬，如果出现振荡，停止或反弹就越难。阻尼器越强，粘性损失就越大，从而逐渐减少接触振动，或者在过阻尼的情况下，阻止它们完全形成。
3.1、Specify Lower Limit 约束下限
Select to add a lower bound to the range of motion of the joint primitive.
选择此选项可将下限添加到关节基本体的运动范围。
3.2、Specify Upper Limit 约束上限
Select to add an upper bound to the range of motion of the joint primitive.
选择此选项可向关节基本体的运动范围添加上限。
3.3、Value
Location past which to resist joint travel. The location is the offset from base to follower, as measured in the base frame, at which contact begins. It is a distance along an axis in prismatic primitives, an angle about an axis in revolute primitives, and an angle between two axes in spherical primitives.
阻止关节行程的位置。如在底座框架中测量，位置是从底座到随动件的偏移量，，接触开始于该偏移量。它是棱柱体基元中沿轴的距离，旋转基元中绕轴的角度，以及球形基元中两个轴之间的角度。
3.4、Spring Stiffness 弹簧刚度
Resistance of the contact spring to displacement past the joint limit. The spring is linear and its stiffness is constant. The larger the value, the harder the stop. The proportion of spring to damper forces determines whether the stop is underdamped and prone to oscillations on contact.
接触弹簧对超过关节极限位移的抵抗力。弹簧是线性的，其刚度是恒定的。值越大，越难停止。弹簧与阻尼力的比例决定了挡块是否欠阻尼并且在接触时是否易于产生振动
3.5、Damping Coefficient 阻尼系数
Resistance of the contact damper to motion past the joint limit. The damper is linear and its coefficient is constant. The larger the value, the greater the viscous losses that gradually lessen contact oscillations, if any arise. The proportion of spring to damper forces determines whether the stop is underdamped and prone to oscillations on contact.
接触阻尼器的运动阻力超过关节极限。 阻尼器是线性的，其系数是恒定的。 值越大，粘性损失越大，逐渐减少接触振动（如果有）。 弹簧与阻尼力的比例决定了挡块是否欠阻尼并且在接触时易于产生振动。
3.6、Transition Region 过渡区
Region over which to raise the spring-damper force to its full value. The region is a distance along an axis in prismatic primitives, an angle about an axis in revolute primitives, and an angle between two axes in spherical primitives.
The smaller the region, the sharper the onset of contact and the smaller the time-step required of the solver. In the trade-off between simulation accuracy and simulation speed, reducing the transition region improves accuracy while expanding it improves speed.
将弹簧阻尼力提升到其最大值的区域。该区域是棱柱体基元中沿轴的距离、旋转基元中围绕轴的角度以及球形基元中两个轴之间的角度。
区域越小，接触开始越尖锐，求解器所需的时间步长越小。在仿真精度和仿真速度之间的权衡中，减小过渡区可以提高精度，而扩展过渡区则可以提高速度。
4、Prismatic Primitive: Actuation 驱动
Specify actuation options for the prismatic joint primitive. Actuation modes include Force and Motion. Selecting Provided by Input from the drop-down list for an actuation mode adds the corresponding physical signal port to the block. Use this port to specify the input signal. Actuation signals are resolved in the base frame.
指定棱柱关节基本体的驱动选项。驱动方式包括力和运动。从下拉列表中选择由输入提供的驱动模式将相应的物理信号端口添加到块中。使用此端口指定输入信号。驱动信号在基架中解析。
4.1、Force 力 默认设置为None
None： 没有驱动力
Provided by Input：
Actuation force from physical signal input. The signal provides the force acting on the follower frame with respect to the base frame along the joint primitive axis. An equal and opposite force acts on the base frame.
来自物理信号输入的驱动力。该信号提供沿joint primitive 轴作用于从动件框架相对于基架的力。一个相等且相反的力作用在基架上。
Automatically computed：
Actuation force from automatic calculation. Simscape™ Multibody™ computes and applies the actuation force based on model dynamics.
自动计算产生的驱动力。Simscape™ Multibody™根据模型动力学计算并应用驱动力。
4.2、Motion 运动/速度/轨迹 默认设置Automatically computed
Provided by Input：
Joint primitive motion from physical signal input. The signal provides the desired trajectory of the follower frame with respect to the base frame along the joint primitive axis.
从物理信号输入。该信号沿着joint primitive轴提供从动件框架相对于基架的期望轨迹。
Automatically computed：
Joint primitive motion from automatic calculation. Simscape Multibody computes and applies the joint primitive motion based on model dynamics.
从自动计算Joint primitive运动。Simscape Multibody基于模型动力学计算并应用joint primitive运动。
5、Prismatic Primitive: Sensing 传感/测量
Select the variables to sense in the prismatic joint primitive. Selecting a variable exposes a physical signal port that outputs the measured quantity as a function of time. Each quantity is measured for the follower frame with respect to the base frame. It is resolved in the base frame. You can use the measurement signals for analysis or as input in a control system.
选择要在“棱柱关节”基本体中要测量的变量。选择一个变量会暴露一个物理信号端口，该端口将测量的量作为时间的函数输出。每一个量都是相对于基体来测量从动件框架的。在基架中解决。您可以使用测量信号进行分析或作为控制系统的输入。

5.1、Position 位置
Select this option to sense the relative position of the follower frame origin with respect to the base frame origin along the joint primitive axis.
选择此选项可沿关节基本体轴感测从动件框架原点相对于基架原点的相对位置。下同
5.2、Velocity 速度
Select this option to sense the relative velocity of the follower frame origin with respect to the base frame origin along the joint primitive axis.

5.3、Acceleration 加速度
Select this option to sense the relative acceleration of the follower frame origin with respect to the base frame origin along the joint primitive axis.

5.4、Actuator Force 驱动力
Select this option to sense the actuation force acting on the follower frame with respect to the base frame along the joint primitive axis.
6、Composite Force/Torque Sensing 测量合力/合力矩
Select the composite forces and torques to sense. Their measurements encompass all joint primitives and are specific to none. They come in two kinds: constraint and total.
Constraint measurements give the resistance against motion on the locked axes of the joint. In prismatic joints, for instance, which forbid translation on the xy plane, that resistance balances all perturbations in the x and y directions. Total measurements give the sum over all forces and torques due to actuation inputs, internal springs and dampers, joint position limits, and the kinematic constraints that limit the degrees of freedom of the joint.
选择要测量的合力和合扭矩。它们的测量包含所有joint primitives，并且没有一个是特定的。它们分为两种：约束和总约束。
约束测量给出了关节锁定轴上运动的阻力。例如，在禁止在x y平面上平移的棱柱关节中，该阻力平衡了x和y方向上的所有扰动。总测量给出了驱动输入、内部弹簧和阻尼器、关节位置限制以及限制关节自由度的运动限制所产生的所有力和扭矩的总和。
6.1、Direction
Vector to sense from the action-reaction pair between the base and follower frames. The pair arises from Newton’s third law of motion which, for a joint block, requires that a force or torque on the follower frame accompany an equal and opposite force or torque on the base frame. Indicate whether to sense that exerted by the base frame on the follower frame or that exerted by the follower frame on the base frame.
从base frame和follower frame之间的动作-反应对感知的向量。这对源自牛顿的第三运动定律，对于关节块，该第三定律要求从动框架上的力或扭矩与基础框架上的相等或相反的力或扭矩相伴。指示是测量base frame施加在follower frame上还是测量follower frame施加在base frame上。
6.2、Resolution Frame 决定坐标系
Frame on which to resolve the vector components of a measurement. Frames with different orientations give different vector components for the same measurement. Indicate whether to get those components from the axes of the base frame or from the axes of the follower frame. The choice matters only in joints with rotational degrees of freedom.
用于解析测量矢量分量的帧。具有不同方向的帧为同一测量提供不同的矢量分量。指示是从基架的轴还是从从动件架的轴获取这些组件。该选择仅在具有旋转自由度的关节中起作用。
6.3、Constraint Force 约束力 fc端口
Dynamic variable to measure. Constraint forces counter translation on the locked axes of the joint while allowing it on the free axes of its primitives. Select to output the constraint force vector through port fc.
要测量的动态变量。约束在关节的锁定轴上强制反向平移，同时允许关节位于其基本体的自由轴上。选择此选项可通过端口fc输出约束力矢量。 下同
6.4、Constraint Torque 约束力矩 tc端口
Dynamic variable to measure. Constraint torques counter rotation on the locked axes of the joint while allowing it on the free axes of its primitives. Select to output the constraint torque vector through port tc.
6.5、Total Force 合力 ft端口
Dynamic variable to measure. The total force is a sum across all joint primitives over all sources—actuation inputs, internal springs and dampers, joint position limits, and kinematic constraints. Select to output the total force vector through port ft.

6.6、Total Torque 合力矩 tt端口
Dynamic variable to measure. The total torque is a sum across all joint primitives over all sources—actuation inputs, internal springs and dampers, joint position limits, and kinematic constraints. Select to output the total torque vector through port tt.

7、Ports 端口
This block has two frame ports. It also has optional physical signal ports for specifying actuation inputs and sensing dynamical variables such as forces, torques, and motion. You expose an optional port by selecting the sensing check box corresponding to that port.
此块有两个帧端口。它还具有可选的物理信号端口，用于指定驱动输入和测量动态变量，如力、扭矩和运动。通过选中与该端口对应的“感应”复选框，可以公开一个可选端口。

Frame Ports 坐标端口
B — Base frame 基坐标端口

F — Follower frame 从动坐标

Actuation Ports 驱动端口
The prismatic joint primitive provides the following actuation ports:

f — Actuation force acting on the Z prismatic joint primitive 驱动力

p — Desired trajectory of the Z prismatic joint primitive 期望轨迹

Sensing Ports 测量端口
The prismatic joint primitive provides the following sensing ports:

p — Position of the Z prismatic joint primitive 位置

v — Velocity of the Z prismatic joint primitive 速度

a — Acceleration of the Z prismatic joint primitive 加速度

f — Actuation force acting on the Z prismatic joint primitive 驱动力

fll — Force due to contact with the lower limit of the Z prismatic joint primitive 与下限接触的力

ful — Force due to contact with the upper limit of the Z prismatic joint primitive 与上限接触的力

The following sensing ports provide the composite forces and torques acting on the joint:
力与力矩
fc — Constraint force

tc — Constraint torque

ft — Total force

tt — Total torque