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Subsubsection 3.11.2.4: Rigid Cylindrical Joint Up Subsection 3.11.2: Rigid Connectors Subsubsection 3.11.2.6: Rigid Lock Joint

#### 3.11.2.5 Rigid Planar Joint

A rigid planar joint connects rigid bodies and , allowing one degree of freedom for rotation about the axis through that point, and two degrees of freedom for translations in the plane perpendicular to that axis, along and .
In addition to the shared parameters above, it defines the following parameters.
 parameter Description joint_origin The position of the joint. rotation_axis The joint axis. translation_axis_1 The first translation axis. prescribed_rotation Prescribed rotation flag rotation Prescribed rotation around axis. prescribed_translation_1 Prescribed translation 1 flag translation_1 Prescribed translation along axis 1 prescribed_translation_2 Prescribed translation 2 flag translation_2 Prescribed translation along axis 2
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 axes 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 along the rotation axis. The moment_penalty parameter (with units of moment per radians) represents the torsional stiffness that enforces parallelism of the joint rotation 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 rotation_axis element defines the orientation of the joint rotation axis in world coordinates at the start of the analysis. The translation_axis_1 element defines the orientation of the joint translation axis in the plane perpendicular to 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">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 along using the additional tags
<prescribed_translation_1>1</prescribed_translation_1>
<translation_1 lc="2">10.0</translation_1>

Optionally, the translation of body relative to body may be prescribed along using the additional tags
<prescribed_translation_2>1</prescribed_translation_2>
<translation_2 lc="2">10.0</translation_2>

Example:
<constraint type="rigid planar joint" name="Joint01">
<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>
<rotation_axis>0,-0.5,0.8660254</rotation_axis>
<translation_axis_1>1,0,0</translation_axis_1>
</constraint>

Subsubsection 3.11.2.4: Rigid Cylindrical Joint Up Subsection 3.11.2: Rigid Connectors Subsubsection 3.11.2.6: Rigid Lock Joint