============ Linear Guide ============ Linear guides are a special case of elastic joints. They implement a coupling between the source and target interface with linear elasticity and viscous damping properties. ---------- Definition ---------- Source and target interfaces should be chosen as shown in following figure: .. image:: media/lp_linear_guide.png :alt: Linear guide link definition :scale: 100 % ^^^^^^^^^^^^^^^^^^^^ Source interface ^^^^^^^^^^^^^^^^^^^^ ============== =========================================================================================== Type Moving interface (Fourier) Topologies Side faces of the rail (faces must spread in all directions) Location The path should go through the resulting location of action (approx. center of the rail) u direction Axial, along the rail in positive moving direction v direction Transversal, perpendicular to the rail, sidewards w direction Normal, away from the top surface of the rail ============== =========================================================================================== ^^^^^^^^^^^^^^^^^^^^ Target interface ^^^^^^^^^^^^^^^^^^^^ ============== =========================================================================================== Type Stationary interface (6dof) Topologies Mounting face of the carriage Location Center of action u direction Axial, along the rail in positive moving direction v direction Transversal, perpendicular to the rail, sidewards w direction Normal, away from the top surface of the rail ============== =========================================================================================== ^^^^^^^^^^^^^^^^^^^^^^^^^ Recommended link settings ^^^^^^^^^^^^^^^^^^^^^^^^^ ========================== ========================== Use ground for source unchecked Location master target Orientation master either source or target ========================== ========================== ---------- Parameters ---------- ^^^^^^^^^ Stiffness ^^^^^^^^^ =================== ========= ======================================================== Parameter Unit Description =================== ========= ======================================================== Axial (u) N/m Axial stiffness (usually zero for a linear guide) Transversal (v) N/m Transversal stiffness Normal (w) N/m Normal stiffness Roll (ru) Nm/rad Roll stiffness Pitch (rv) Nm/rad Pitch stiffness Yaw (rw) Nm/rad Yaw stiffness =================== ========= ======================================================== ^^^^^^^^^ Damping ^^^^^^^^^ =================== ========= ======================================================== Parameter Unit Description =================== ========= ======================================================== Axial (u) Ns/m Axial damping (viscous damping of the linear guide) Transversal (v) Ns/m Transversal damping Normal (w) Ns/m Normal damping Roll (ru) Nms/rad Roll damping Pitch (rv) Nms/rad Pitch damping Yaw (rw) Nms/rad Yaw damping =================== ========= ========================================================