Rigid Transform
Fixed spatial relationship between frames
- Library:
Simscape / Multibody / Frames and Transforms
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
B — Base frame
frame
Frame with respect to which you specify the transforms.
F — Follower frame
frame
Frame to which you apply the transforms.
Parameters
Rotation: Method — Method for specifying the rotation transform
None (default) | Aligned Axes | Standard Axis | Arbitrary Axis | Rotation Sequence | Rotation Matrix
Method to use to specify the rotation transform between the base and follower frames. The table summarizes the available options.
| Method | Description |
|---|---|
None | Constrain the base and follower frames to share the same orientation. |
Aligned Axes | Set frame rotation by aligning two follower frame axes with two base frame axes. |
Standard Axis | Specify frame rotation as an angle about a standard axis (x, y, or z). |
Arbitrary Axis | Specify frame rotation as an angle about a general [x, y, z] axis. |
Rotation Sequence | Specify frame rotation as a sequence of three elementary rotations. |
Rotation Matrix | Specify frame rotation as a right-handed orthogonal rotation matrix. |
Aligned AxesSelect two pairs of base-follower frame axes.
Parameter Description Pair 1 First pair of base-follower frame axes to align. Pair 2 Second pair of base-follower frame axes to align. Axis choices depend on Pair 1 axis selections. Standard AxisSelect a standard rotation axis, resolved in the base frame, and specify the follower frame rotation angle.
Parameter Description Axis Standard rotation axis (X, Y, or Z) resolved in the base frame. Angle Follower frame rotation angle about the rotation axis with respect to the base frame. Arbitrary AxisSelect a general 3-D rotation axis, resolved in the base frame, and specify the follower frame rotation angle.
Parameter Description Axis General rotation axis [X Y Z] resolved in the base frame. Angle Follower frame rotation angle about the rotation axis with respect to the base frame. Rotation SequenceSpecify a sequence of three elementary rotations about the selected permutation of x, y, and z axes. These rotation sequences are also known as Euler and Tait-Bryan sequences. The rotations are those of the follower frame relative to the frame selected in the Rotate About parameter.
If you set the Rotate About parameter to
Follower Frame, the follower frame rotates about its own axes. These axes change orientation with each successive rotation. If you set the Rotate About parameter toBase Frame, the follower frame rotates about the fixed base frame axes.Parameter Description Rotation About Frame whose axes to rotate the follower frame about. Sequence Sequence of axes about which to apply the elementary rotations. Angles Three-element vector with elementary rotation angles about the axes specified in the Sequence parameter. Rotation MatrixSpecify the 3×3 transformation matrix of a proper rotation between the base and follower frames. The matrix must be orthogonal and have determinant +1. The default matrix is
[1 0 0; 0 1 0; 0 0 1].
Translation: Method — Method for specifying the translation transform
None (default) | Cartesian | Standard Axis | Cylindrical
Method to use to specify the translation transform between the base and follower frames. The table summarizes the available options.
| Method | Description |
|---|---|
None | Make base and follower frames coincident. This method requires no parameters. |
Cartesian | Specify a 3-D translation in terms of Cartesian coordinates |
Standard Axis | Specify a 1-D translation along the X, Y, or Z axis |
Cylindrical | Specify a 3-D translation in terms of cylindrical coordinates |
Cartesian AxisSpecify 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 AxisSpecify 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.
Parameter Description Axis Axis the follower frame translates along Offset Translation of the follower frame with respect to the base frame along the specified axis CylindricalSpecify in cylindrical coordinates the translation that brings the base frame into coincidence with the follower frame. Select or enter a physical unit.
Parameter Description Radius Distance between the origin of the follower frame and the Z axis of the base frame. This is the cylindrical radius coordinate. Theta Rotation 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 Offset Distance 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™.
See Also
Reference Frame | Transform Sensor | Variable Brick Solid | World Frame