How to change the axis of action of a revolute joint in Simmechanics Second Generation

Hi folks!

I'm trying to model a biped robot using Simmechanics Second Generation. My problem is that I have parts that rotate about different axis and the revolute joint makes parts to rotate only about the Z axis.

Revolute joint in Simmechanics first generation had an option to change the action axis by specifying a vector. But, apparently, second generation doesn't have this option, as it looks in the image below (left= first generation)

So, is there a way to change the action axis for a revolute joint in simmechanics second generation?

Answer 1

[Steve Miller]

You need to re-orient the frames that attach to this joint using Rigid Transform blocks.

See Change Revolute Joint in Simscape Multibody

-Steve