simscape.multibody.PrismaticPrimitiveInternalMechanics Class

R2026b

Namespace: simscape.multibody

Internal mechanics for prismatic joint primitive

Since R2026b

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Description

Use an object of the simscape.multibody.PrismaticPrimitiveInternalMechanics class to specify the internal spring and damper mechanics of a prismatic joint primitive. To configure internal mechanics, assign a PrismaticPrimitiveInternalMechanics object to the InternalMechanics property of a simscape.multibody.PrismaticPrimitive object.

Class Attributes

Sealed
true
ConstructOnLoad
true

For information on class attributes, see Class Attributes.

Creation

Description

im = simscape.multibody.PrismaticPrimitiveInternalMechanics creates an internal mechanics specification for a prismatic joint primitive with default property values.

im = simscape.multibody.PrismaticPrimitiveInternalMechanics(springEquilibriumPosition,spring,damper) creates an internal mechanics specification with the specified equilibrium position, spring, and damper.

example

Properties

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Equilibrium position of the internal spring, specified as a simscape.Value object that must have a scalar and length unit. The spring produces zero force when the joint primitive position equals this value.

Linear translational spring, specified as a simscape.multibody.LinearTranslationalSpring object.

Linear translational damper, specified as a simscape.multibody.LinearTranslationalDamper object.

Examples

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This example shows how to create an internal mechanics specification with a spring and damper for a prismatic joint primitive.

Create a spring with a stiffness of 500 N/m and a damper with a coefficient of 10 N/(m/s).

spring = simscape.multibody.LinearTranslationalSpring(simscape.Value(500,"N/m"));
damper = simscape.multibody.LinearTranslationalDamper(simscape.Value(10,"N/(m/s)"));

Create an internal mechanics specification with a spring equilibrium position of 0.05 m, the spring, and the damper.

im = simscape.multibody.PrismaticPrimitiveInternalMechanics( ...
    simscape.Value(0.05,"m"), spring, damper)

im =
  PrismaticPrimitiveInternalMechanics with properties:

    SpringEquilibriumPosition: 0.0500 (m)
                       Spring: [1x1 simscape.multibody.LinearTranslationalSpring]
                       Damper: [1x1 simscape.multibody.LinearTranslationalDamper]

Assign the internal mechanics to the prismatic primitive of a prismatic joint.

pj = simscape.multibody.PrismaticJoint;
pj.Pz.InternalMechanics = im;

Version History

Introduced in R2026b

See Also

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