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Rigid Transform

Fixed spatial relationship between frames

  • Library:
  • Simscape / Multibody / Frames and Transforms

  • Rigid Transform block

Description

This block applies a time-invariant transformation between two frames. The transformation rotates and translates the follower port frame (F) with respect to the base port frame (B). Connecting the frame ports in reverse causes the transformation itself to reverse. The frames remain fixed with respect to each other during simulation, moving only as a single unit. Combine Rigid Transform and Solid blocks to model compound rigid bodies.

Ports

Frame

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Frame with respect to which you specify the transforms.

Frame to which you apply the transforms.

Parameters

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Rotation

Method to use to specify the rotation transform between the base and follower frames. Set the parameter to None to constrain the base and follower frames to the same orientation.

Follower frame axis used to align with the base frame axis set by the Pair 1: Base parameter, specified as an orthogonal axis of the follower frame. The follower frame rotates with respect to the base frame to enable the alignment between the selected axes of the base and follower frames.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Aligned Axis.

Base frame axis to align with the follower frame specified by the Pair 1: Follower, specified as an orthogonal axis of the base frame.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Aligned Axis.

Base frame axis to align with the follower frame specified by the Pair 2: Follower, specified as an orthogonal axis of the follower frame. The follower frame rotates with respect to the base frame to enable the alignment between the selected axes of the base and follower frames.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Aligned Axis.

Base frame axis used to let the follower frame axis set in the Pair2: Follower parameter to align with, specified as an orthogonal axis of the base frame. The axis choices for Pair 2 depend on the Pair 1 axis selections.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Aligned Axis.

Axis of the relative rotation, specified as an orthogonal axis of the base frame.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Standard Axis.

Angle of the relative rotation, specified as a scalar. The angle indicates the rotation of the follower frame with respect to the base frame about the specified axis.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Standard Axis.

Axis of the relative rotation, specified as a 3-by-1 unit vector. The vector is dimensionless and indicates the rotational axis resolved in the base frame.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Arbitrary Axis.

Angle of the relative rotation, specified as a scalar. The angle indicates the rotation of the follower frame with respect to the base frame about the axis specified by the Axis parameter.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Arbitrary Axis.

Frame whose axes to rotate the follower frame about, specified as Follower Axes or Base Axes. If you set the parameter to Follower Axes, the follower frame rotates about its own axes, and the follower frame changes the orientation with each successive rotation. If you set the parameter to Base Axes, the follower frame rotates about the fixed base frame axes. See Rotational Measurements for more information.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Rotation Sequence.

Sequence of the rotation axis for three successive elementary rotations. See Rotation Sequence Measurements for more information.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Rotation Sequence.

Angles for elementary rotations, specified as a 3-by-1 vector. See Rotation Sequence Measurements for more information.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Rotation Sequence.

Relative rotation, specified as a 3-by-3 matrix. The matrix must be orthogonal and have determinate 1. See Rotational Measurements for more information.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Rotation Matrix.

Relative rotation, specified as a vector in quaternion parameterization. See Rotational Measurements for more information about the quaternion.

Dependencies

To enable this parameter, under Rotation, set Method parameter to Quaternion.

Translation

Method to use to specify the translation transform between the base and follower frames. The table summarizes the available options.

MethodDescription
NoneMake base and follower frames coincident. This method requires no parameters.
CartesianSpecify a 3-D translation in terms of Cartesian coordinates
Standard AxisSpecify a 1-D translation along the X, Y, or Z axis
CylindricalSpecify a 3-D translation in terms of cylindrical coordinates

Cartesian Axis

Specify the Offset of the follower frame with respect to the base frame. This is the 3-D translation vector that brings the base frame into coincidence with the follower frame. Select or enter a physical unit.

Standard Axis

Specify the offset of the follower frame with respect to the base frame along the base frame X, Y, or Z axis. Select or enter a physical unit.

ParameterDescription
AxisAxis the follower frame translates along
OffsetTranslation of the follower frame with respect to the base frame along the specified axis
Cylindrical

Specify in cylindrical coordinates the translation that brings the base frame into coincidence with the follower frame. Select or enter a physical unit.

ParameterDescription
RadiusDistance between the origin of the follower frame and the Z axis of the base frame. This is the cylindrical radius coordinate.
ThetaRotation angle of the line connecting base and follower frame origins with respect to the base frame X axis. This is the cylindrical azimuth coordinate.
Z OffsetDistance between base and follower frame origins along the base frame Z axis. This is the cylindrical length coordinate.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2012a