What type of Joint is a Straight Slot ?

Bar revolves at pt A. End of length is the straight slot which connects to a fix linear actuator perpendicular to the bar.

actuator linear pull stroke. clevis joint translate in straight slot.

what type of joint is this straight slot. and how to couple?

Answer 1

[Arnaud Miege]

If I understand correctly, you want to model a joint with some clearance, is that right? The trick is to measure the position and velocity of the joint, and then use a collision force law, which provides a restoring stifness (and damping) when the penetration (position) goes outside a defined range, e.g:

F = 0 if abs(x) <= x_0, k*(x-x0)+b*x_dot when abs(x) > x_0.

similar to what's in the "Backlash Actuation" subsystem of mech_gears_backlash or in the "Contact Force" subsystem of mech_bouncing_ball.

HTH,

Arnaud

[Arnaud Miege]

PS: probably best to use a custom joint with one revolute and one prismatic primitive, and apply the restoring force or backlash actuation on the prismatic one.