=======
Bearing
=======

Bearings 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_bearing.png
      :alt: Bearing link definition
      :scale: 100 %


^^^^^^^^^^^^^^^^^^^^
Source interface
^^^^^^^^^^^^^^^^^^^^

==============  ===========================================================================================
Type            Stationary interface (6dof)
Topologies      Inner ring surface at the shaft
Location        Center of action
u direction     Axial, along the rotational axis
v direction     Radial
w direction     Radial
==============  ===========================================================================================

^^^^^^^^^^^^^^^^^^^^
Target interface
^^^^^^^^^^^^^^^^^^^^

==============  ===========================================================================================
Type            Stationary interface (6dof)
Topologies      Outer ring surface at the housing
Location        Center of action
u direction     Axial, along the rotational axis
v direction     Radial
w direction     Radial
==============  ===========================================================================================

^^^^^^^^^^^^^^^^^^^^^^^^^
Recommended link settings
^^^^^^^^^^^^^^^^^^^^^^^^^

==========================  ==========================
Use ground for source       unchecked
Location master             either source or target
Orientation master          either source or target
==========================  ==========================

----------
Parameters
----------

^^^^^^^^^
Stiffness
^^^^^^^^^

===================  =========  ========================================================
Parameter            Unit       Description
===================  =========  ========================================================
Axial (u)            N/m        Axial stiffness
Radial (v)           N/m        Transversal stiffness
Radial (w)           N/m        Normal stiffness
Rotational (ru)      Nm/rad     Rotational stiffness (usually zero for bearings)
Tilt (rv)            Nm/rad     Tilting stiffness
Tilt (rw)            Nm/rad     Tilting stiffness
===================  =========  ========================================================

^^^^^^^^^
Damping
^^^^^^^^^

===================  =========  ========================================================
Parameter            Unit       Description
===================  =========  ========================================================
Axial (u)            Ns/m       Axial damping
Radial (v)           Ns/m       Transversal damping
Radial (w)           Ns/m       Normal damping
Rotational (ru)      Nsm/rad    Rotational damping
Tilt (rv)            Nsm/rad    Tilting damping
Tilt (rw)            Nsm/rad    Tilting damping
===================  =========  ========================================================