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Subsubsection 3.11.2.3: Rigid Prismatic Joint Up Subsection 3.11.2: Rigid Connectors Subsubsection 3.11.2.5: Rigid Planar Joint

#### 3.11.2.4 Rigid Cylindrical Joint

A rigid cylindrical joint connects rigid bodies and at a point in space, allowing one degree of freedom for rotation about an axis through that point, and another degree of freedom for translation along that axis.
In addition to the shared parameters above, it defines the following parameters.
 parameter Description joint_origin The position of the joint. joint_axis The joint axis. transverse_axis The transverse axis. prescribed_translation Prescribed translation flag translation Prescribed translation along axis. force Applied force along 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 (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 joint_axis element defines the orientation of the joint rotation and translation 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">1.570796327</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, the translation of body relative to body may be prescribed using the additional tags
<prescribed_translation>1</prescribed_translation>
<translation lc="2">10.0</translation>

Optionally, a moment may be prescribed 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.
Optionally, a force may be prescribed along the joint axis using the additional tag
<force lc="1">2.0</force>

The force element specifies the magnitude of the force, with an optional associated load curve. The force element should not be used simultaneously with a prescribed translation.
Example:
<constraint type="rigid cylindrical joint" name="Joint03">
<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>2</body_b>
<joint_origin>0,0,0</joint_origin>
<joint_axis>0,0,1</joint_axis>
</constraint>

Subsubsection 3.11.2.3: Rigid Prismatic Joint Up Subsection 3.11.2: Rigid Connectors Subsubsection 3.11.2.5: Rigid Planar Joint