Direction of force input for a prismatic joint

Does the force input for actuation of a prismatic joint act in the opposite direction when a negative value is applied compared to a positive value?

[Umar]

Hi @ 석준 ,

It should align with the sign convention chosen in the model. Here's a simple example in Simulink where a force input of +10 N moves the joint to the right, while a force input of -10 N moves the joint to the left:

% Simulink Model
model = 'PrismaticJointModel';
open_system(model);
% Positive Force Input
force_positive = 10;
sim(model);
% Negative Force Input
force_negative = -10;
sim(model);

Please let me know if you have any further questions.

[Yifeng Tang]

I wonder where the 'PrismaticJointModel' model is?

[Umar]

@ Yifeng Tang,

To answer your question, it is assumed to be a custom model created within the Simulink environment. Also, I do appreciate your consideration and contribution towards resolving this problem.

Answer 1

[Yifeng Tang]

Yes, you are correct. When you provide a negative value for the actuation force, it's applied in the opposite direction with the same magnitude. The positive direction, I believe, is from the base frame (B) towards the follower frame (F).