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Rigid Transform

Fixed spatial relationship between two frames

Library

Frames and Transforms

Description

This block represents a rigid transformation that translates and/or rotates the follower frame with respect to the base frame. All transformations are resolved in the base frame. The spatial relationship between the two frames is constant for all time. The frames can only move as a single unit.

The block provides different methods to specify a transformation. For example, Cartesian, Standard Axis, and Cylindrical provide alternative ways to apply a translation between base and follower frames. Select the most convenient method for the application.

Switching base and follower frames is equivalent to applying the frame transformation in reverse. If a transformation translates frame A along the +Z axis with respect to frame B, switching base and follower frame ports translates frame A along the -Z axis instead.

Dialog Box and Parameters

The dialog box contains a Properties area with two transformation types that you can apply:

  • Rotation

  • Translation

Rotation:Method

Select the method to use to specify rotation. The default is None.

MethodDescription
NoneMake base and follower frames coincident. This method requires no parameters.
Aligned AxesAlign two pairs of base-follower frame axes.
Standard AxisApply to the follower frame a rotation angle about a standard base frame axis (X, Y, or Z).
Arbitrary AxisApply to the follower frame a rotation angle about a general axis [X Y Z] resolved in the base frame.

Aligned Axes

Select two pairs of base-follower frame axes.

ParameterDescription
Pair 1First pair of base-follower frame axes to align.
Pair 2Second pair of base-follower frame axes to align. Axis choices depend on Pair 1 axis selections.

Standard Axis

Select a standard rotation axis, resolved in the base frame, and specify the follower frame rotation angle.

ParameterDescription
AxisStandard rotation axis (X, Y, or Z) resolved in the base frame.
AngleFollower frame rotation angle about the rotation axis with respect to the base frame.

Arbitrary Axis

Select a general 3-D rotation axis, resolved in the base frame, and specify the follower frame rotation angle.

ParameterDescription
AxisGeneral rotation axis [X Y Z] resolved in the base frame.
AngleFollower frame rotation angle about the rotation axis with respect to the base frame.

Translation: Method

Select the method to use to specify translation. The default is None.

MethodDescription
NoneMake base and follower frames coincident. This method requires no parameters.
CartesianSpecify a 3-D translation in terms of Cartesian coordinates
Standard AxisSpecify a 1-D translation along the X, Y, or Z axis
CylindricalSpecify a 3-D translation in terms of cylindrical coordinates

Cartesian Axis

Specify the Offset of the follower frame with respect to the base frame. This is the 3-D translation vector that brings the base frame into coincidence with the follower frame. Select or enter a physical unit.

Standard Axis

Specify the offset of the follower frame with respect to the base frame along the base frame X, Y, or Z axis. Select or enter a physical unit.

ParameterDescription
AxisAxis the follower frame translates along
OffsetTranslation of the follower frame with respect to the base frame along the specified axis

Cylindrical

Specify in cylindrical coordinates the translation that brings the base frame into coincidence with the follower frame. Select or enter a physical unit.

ParameterDescription
RadiusDistance between the origin of the follower frame and the Z axis of the base frame. This is the cylindrical radius coordinate.
ThetaRotation angle of the line connecting base and follower frame origins with respect to the base frame X axis. This is the cylindrical azimuth coordinate.
Z OffsetDistance between base and follower frame origins along the base frame Z axis. This is the cylindrical length coordinate.

Ports

B and F are frame ports that represent the base and follower frames, respectively.

See Also

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