4343\SubSection {Joint variables}{joint-variables}
4444
4545The joint variables are the accessible or controllable DOFs for each joint.
46- As an example, the Revolute Joint normally has one accessible DOF,
47- namely the rotation about one axis. The other DOFs are fixed.
48- For most joints the DOFs that are not accessible are fixed,
49- but for Prismatic and Cylindrical joints that is not the case.
50- Refer to \protect\hyperlink {prismatic-joint}{\sl "Prismatic joint"} and
51- \protect\hyperlink {cylindric-joint}{\sl "Cylindric joint"} for further details.
46+ As an example, the Revolute Joint normally has only one accessible DOF,
47+ namely the rotation about one axis.
48+ The DOFs that are not accessible are fixed,
49+ except for in the Prismatic and Cylindrical joints (see
50+ \protect\hyperlink {prismatic-joint}{\sl "Prismatic joint"} and
51+ \protect\hyperlink {cylindric-joint}{\sl "Cylindric joint"} for details) .
5252
5353The behavior of the joint variable can be controlled or customized in
54- several ways. There are four main options.
54+ several ways. The following are the four main { \sl Constraint Type} options:
5555
5656\begin {itemize }
57- \item {\sl Fixed} --
57+ \item \protect\hyperlink {free-joint-var}{\sl Free} --
58+ This DOF is free to move. No constraints are applied.
59+ \item \protect\hyperlink {fixed-joint-var}{\sl Fixed} --
5860 This DOF is fixed, and can not be moved.
5961 It is removed from the system of equations (condensed out).
60- \item {\sl Free} --
61- This DOF is free to move. No constraints are applied.
62- \item {\sl Prescribed} --
62+ \item \protect\hyperlink {prescribed-joint-var}{\sl Prescribed} --
6363 This DOF can be assigned a prescribed motion,
6464 and is thus condensed out from the system of equations.
65- \item {\sl Spring-Damper} --
65+ \item \protect\hyperlink {spring-damper} {\sl Spring-Damper} --
6666 This DOF is free to move, but a spring and a damper may be applied
6767 to assign stiffness and/or damping properties to it.
6868\end {itemize }
@@ -225,11 +225,11 @@ \subsubsection{Integrated springs and dampers}
225225 see \refSection {dynamics-solver-basic-mode}{Dynamics Solver (Basic Mode)}.
226226\end {bulletlist }
227227
228- \subsubsection {\sl \textbf {Fixed }
228+ \SubSubSection {\sl \textbf {Fixed }}{fixed-joint-var }
229229
230- \begin {picture }(343,50 )
231- \put (0,-30 ){\includegraphics [width=\textwidth ]{\ReferenceImg /prp/joint-3}}
232- \put (190,25 ){\Bullet {1}}
230+ \begin {picture }(343,80 )
231+ \put (0,0 ){\includegraphics [width=\textwidth ]{\ReferenceImg /prp/joint-3}}
232+ \put (190,55 ){\Bullet {1}}
233233\end {picture }
234234
235235\begin {bulletlist }
@@ -246,7 +246,7 @@ \subsubsection{\sl\textbf{Fixed}}
246246 \refSubSection {selecting-rdb-results}{Selecting RDB results}
247247 {curve-properties}).}
248248
249- \subsubsection {\sl \textbf {Prescribed }
249+ \SubSubSection {\sl \textbf {Prescribed }}{prescribed-joint-var }
250250
251251\begin {picture }(343,85)
252252 \put (0,0){\includegraphics [width=\textwidth ]{\ReferenceImg /prp/joint-4}}
@@ -307,16 +307,15 @@ \subsubsection{\sl\textbf{Prescribed}}
307307 \refSection {dynamics-solver-basic-mode}{Dynamics Solver Basic Mode}.
308308\end {bulletlist }
309309
310- \Tip {You may plot the reaction force associated with a fixed joint DOF by
310+ \Tip {You may plot the reaction force associated with a prescribed joint DOF by
311311 selecting the {\rm Force/Moment value} item under the joint variable node in
312312 question from the RDB selector (see
313313 \refSubSection {selecting-rdb-results}{Selecting RDB results}
314314 {curve-properties}).}
315315
316316\clearpage
317- \subsubsection {\sl \textbf {Spring-Damper }
317+ \SubSubSection {\sl \textbf {Spring-Damper }}{spring-damper }
318318
319- \noindent
320319\begin {picture }(343,80)
321320 \put (0,0){\includegraphics [width=\textwidth ]{\ReferenceImg /prp/joint-5}}
322321 \put (50,52){\Bullet {1}}
@@ -327,9 +326,8 @@ \subsubsection{\sl\textbf{Spring-Damper}}
327326 \put (270,38){\Bullet {6}}
328327\end {picture }
329328
330- These options enable you to add elastic and damping
331- behavior to the joint variable by entering values for the spring
332- and damper properties.
329+ These options enable you to add elastic and damping behavior to the
330+ joint variable by entering values for the spring and damper properties.
333331
334332\begin {bulletlist }
335333\item {\sl Additional BC} --
@@ -372,7 +370,7 @@ \subsubsection{\sl\textbf{Spring-Damper}}
372370\protect\hyperlink {joint-variable-properties}{\sl Joint variable properties}
373371described above.
374372
375- \noindent
373+ \vskip 2mm \ noindent
376374\includegraphics [trim=0 15.2 0 0,clip,width=\textwidth ]{\ReferenceImg /prp/free-joint-1}
377375
378376\begin {itemize }
@@ -500,18 +498,18 @@ \subsubsection{\sl\textbf{Spring-Damper}}
500498% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
501499\SubSection {Point-to-point joints}{point-to-point-joints}
502500
503- \begin {minipage }{0.75\textwidth }
504- \raggedright
505- With point-to-point joints, the motion constraints of the joint are applied
506- between two points represented by the slave and the master triad with
507- their corresponding FE nodes. Point-to-point joints are found on the
508- \textbf {Mechanism Creation } tool bar (shown at right).
509- \end {minipage }% <--- the % is needed here to kill off spurious spacing
510- \hfill \begin {minipage }{0.2\textwidth }
511- \includegraphics [width=\textwidth ]{Figures/1st_Joint_Pulldown}
512- \end {minipage }
501+ \begin {wrapfigure }[6]{r}{0.3\textwidth }
502+ \vspace {-5mm}
503+ \center
504+ \includegraphics [width=0.27\textwidth ]{Figures/1st_Joint_Pulldown}
505+ \end {wrapfigure }
513506
514- Each of the point-to-point joint types are described in the following.
507+ For these joint types, the motion constraints are applied
508+ between two points represented by the slave and the master triad with
509+ their corresponding FE nodes.
510+ The point-to-point joints are found on the \newline
511+ \textbf {Mechanism Creation } tool bar (shown at right). \newline
512+ They can also be accessed from the \textbf {Mechanism } menu of the main window.
515513
516514
517515\subsubsection {Revolute joint }
@@ -744,18 +742,16 @@ \subsubsection{Swapping Master and Slave triads}
744742\end {wrapfigure }
745743
746744Point-to-path joints are more complex than \newline point-to-point joints
747- as they require at least \newline two master triad for each slave triad.
748- The motion constraint in these joints is defined by a straight
745+ as they require at least \newline two master triads for each slave triad.
746+ The motion constraints in these joints are defined by a straight
749747or curved path through the given set of master triads.
750- Point-to-path joints are found on the {\sl Mechanism Creation} tool bar
751- (shown at right).
748+ Point-to-path joints are found on the \textbf {Mechanism Creation } tool bar
749+ (shown at right). They can also be accessed from the \textbf {Mechanism } menu
750+ of the main window.
752751
753752\Note {The same set of master triads can be used in more than one point-to-path
754753 joint.}
755754
756- \medskip\noindent
757- Each of the point-to-path joint types is described in the following.
758-
759755
760756\SubSubSection {Prismatic joint}{prismatic-joint}
761757
@@ -776,7 +772,7 @@ \subsubsection{Swapping Master and Slave triads}
776772(the slave can rotate about the local $ X$ $ Y$
777773independently of the masters).
778774
779- \Tip {You can attach two prismatic joints to make a stiff translating connection
775+ \Tip {You can use two prismatic joints to make a stiff translating connection
780776 by attaching the masters of the two joints to the same nodes (in same order)
781777 and attaching the two slave triads to the same part on different nodes.}
782778
@@ -793,8 +789,9 @@ \subsubsection{Swapping Master and Slave triads}
793789 \end {picture }
794790\end {wrapfigure }
795791
796- The symbol for a prismatic joint is displayed in the {\sl Modeler} view as
797- shown to the right.
792+ The symbol for a prismatic joint \newline
793+ is displayed in the {\sl Modeler} view \newline
794+ as shown to the right.
798795
799796\begin {bulletlist }
800797\item
@@ -819,14 +816,14 @@ \subsubsection{\sl\textbf{Adding masters}}
819816\begin {wrapfigure }[4]{r}{0.35\textwidth }
820817 \vspace {-8mm}
821818 \center
822- \includegraphics [width=0.22 \textwidth ]{Figures/4-PrismJoint-topology}
819+ \includegraphics [width=0.25 \textwidth ]{Figures/4-PrismJoint-topology}
823820\end {wrapfigure }
824821
825822To add master triads to a joint, click the \textbf {Add Master } button
826823located below the ID and Topology panel (shown at right) and select
827824additional FE nodes along the slider path.
828825
829- \medskip
826+ \bigskip
830827\Note {You can add master to a prismatic joint only after it has been attached to
831828 a part (see \refSection {using-the-attach-command}{Using the Attach command}).
832829 It is not possible to add masters to a joint that is attached to ground.}
0 commit comments