How can i change rotation axis?

Rotation axis normally defined axis around Z,I want to rotate my modal around x and y axis how can i change rotation axis of the revolute joint?

Thanks

[ABDELKADER]

Do you have the model of the Delta robot?

Answer 1

[Matt J]

It's not clear what kind of data you're rotating, but this might help

http://www.mathworks.com/matlabcentral/fileexchange/30864-3d-rotation-about-shifted-axis

[Enes]

Thank you for your answer but i need to give more information,im using simmechanics and i have model of delta robot and i need to rotate 3 paralel cylinder which are connected to the main body and controls with 3 servo motor in real.So i want to rotate these cylinders respect to their frame not base frame,because these joints rotating same time but their position and their rotation axis should be different. Link below you can see my model and i can send you my modal if it will be helpfull.

http://imageshack.us/photo/my-images/685/deltax.png/

Thank you very much.

[N/A]

Sorry for the array of questions, but what SimMechanics generation are you using - first or second? (If you don't know, you are probably using first-generation)

[Enes]

No im using second generation.

[ABDELKADER]

Can you send me the model?

Answer 2

[Canberk Suat Gurel]

In the second version, the revolute joint only rotates about the Z axis. In order to find your way around this you can use the revolute joint that is available in the first generation, which allows the axis of rotation to be altered as desired. The first generation revolute joint is also available in the sm_lib of the second generation as follows: