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 Subsubsection 3.11.2.1: Rigid Spherical Joint Up Subsection 3.11.2: Rigid Connectors Subsubsection 3.11.2.3: Rigid Prismatic Joint 

3.11.2.2 Rigid Revolute Joint

The rigid revolute joint connector allows the user to connect two rigid bodies and at a point in space and allow rotation about a single prescribed axis.
In addition to the shared parameters above, it defines the following parameters.
parameter Description
joint_origin The position of the joint.
rotation_axis The rotation axis.
transverse_axis The transverse axis.
prescribed_rotation Prescribed rotation flag
rotation Prescribed rotation around axis.
moment Applied moment about axis.
The tolerance element defines the augmentation tolerance. That is, when the relative change in the constraint forces and moments (the Lagrange multipliers) are less than this value. The gaptol element defines the tolerance for spatial separation of the joint origin on the two bodies (in units of length). The angtol element defines the tolerance for angular separation of the joint axis on the two bodies (in units of radians). Setting any of these three elements to zero disables the enforcement of that tolerance. The force_penalty parameter (with units of force per length) represents the stiffness that prevents the joint origin on the two bodies from separating. The moment_penalty parameter (with units of moment per radians) represents the torsional stiffness that enforces parallelism of the joint axis on the two bodies. The body_a and body_b elements are the material numbers of the two rigid bodies. The joint_origin element defines the position of the joint origin (the origin of the basis in world coordinates at the start of the analysis. Note that this point does not have to be inside or on the surface of either of the two bodies. The rotation_axis element defines the orientation of the joint rotation axis in world coordinates at the start of the analysis.
Optionally, the rotation of body relative to body may be prescribed using the additional tags
<prescribed_rotation>1</prescribed_rotation>
<rotation lc="1">3.14159</rotation>
The prescribed_rotation element is a flag that indicates that the motion of the joint is prescribed (1 for prescribed, 0 for free). The rotation element specifies the amount of rotation (with units of radians) with an optional associated load curve.
Optionally, a moment may be prescribed on body relative to body , about the joint axis, using the additional tag
<moment lc="1">5.e-3</moment>
The moment element specifies the magnitude of the moment, with an optional associated load curve. The moment element should not be used simultaneously with a prescribed rotation.
Example:
<constraint type="rigid revolute joint" name="Joint 1">
  <tolerance>0</tolerance>
  <gaptol>1e-4</gaptol>
  <angtol>1e-4</angtol>
  <force_penalty>1e0</force_penalty>
  <moment_penalty>1e0</moment_penalty>
  <auto_penalty>1</auto_penalty>
  <body_a>1</body_a>
  <body_b>3</body_b>
  <joint_origin>-150,0,2</joint_origin>
  <rotation_axis>0,0,1</rotation_axis>
</constraint>
 Subsubsection 3.11.2.1: Rigid Spherical Joint Up Subsection 3.11.2: Rigid Connectors Subsubsection 3.11.2.3: Rigid Prismatic Joint