Fixed spatial relationship between frames
expand all in page
Libraries:
Simscape / Multibody / Frames and Transforms
Description
The Rigid Transform block specifies and maintains a fixed spatial relationship between two frames during simulation. The spatial relationship can include a translation and a rotation.
The block has various methods to specify the position and orientation of the follower frame with respect to the base frame. For more information, see Rotation and Translation.
Examples
Open Model
Ports
Frame
expand all
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
expand all
Rotation
Method — Method to specify relative rotation
None
(default) | Aligned Axes
| Standard Axis
| Arbitrary Axis
| Rotation Sequence
| Rotation Matrix
| Quaternion
Method to use to specify the relative rotation between the base and follower frames. Set the parameter to None
to constrain the base and follower frames to the same orientation.
Pair 1: Follower — Follower frame axis used to align with specified base frame axis
+X
(default) | -X
| +Y
| -Y
| +Z
| -Z
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
.
Pair 1: Base — Base frame axis
+Y
(default) | +X
| -X
| -Y
| +Z
| -Z
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
.
Pair 2: Follower — Follower frame axis used to align with specified base frame axis
+Y
| +X
| -X
| -Y
| +Z
| -Z
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
.
Pair2: Base — Base frame axis
+Z
(default) | +X
| -X
| +Y
| -Y
| -Z
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 — Standard axis of relative rotation
+Z
(default) | +X
| -X
| +Y
| -Y
| -Z
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 — Angle of relative rotation
0.0 deg
(default) | scalar
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 — Axis of relative rotation
[0 0 1] (default) | 3-by1 vector
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 — Angle of relative rotation
0.0 deg
(default) | scalar
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
.
Rotation About — Frame whose axes to rotate follower frame about
Follower Axes
(default) | Base Axes
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 — Sequence of rotation axis
X-Y-X
(default) | X-Y-Z
| X-Z-X
| X-Z-Y
| Y-X-Y
| Y-X-Z
| Y-Z-X
| Y-Z-Y
| Z-X-Y
| Z-X-Z
| Z-Y-X
| Z-Y-Z
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 — Angles for elementary rotations
[0 0 0] deg
(default) | 3-by-1 vector
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
.
Matrix — Rotation matrix
[1 0 0; 0 1 0; 0 0 1] (default) | 3-by-3 matrix
Relative rotation, specified as a 3-by-3 matrix. The matrix must be orthogonal and have determinant 1. See Rotational Measurements for more information.
Dependencies
To enable this parameter, under Rotation, set Method parameter to Rotation Matrix
.
Quaternion — Relative rotation using quaternion
[1 0 0 0] (default) | unit quaternion vector
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 — Method for specifying the translation
None
(default) | Cartesian
| Standard Axis
| Cylindrical
Method to use to specify the relative translation 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 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.
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 Cylindrical
Specify 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™.
Version History
Introduced in R2012a
See Also
World Frame | Variable Brick Solid | Reference Frame | Transform Sensor
Topics
- Creating Connection Frames
- Model a Simple Link
- Working with Frames
- Visualize Simscape Multibody Frames
MATLAB Command
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window. Web browsers do not support MATLAB commands.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- Deutsch
- English
- Français
- United Kingdom (English)
Contact your local office