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November 15, 2012

The Spherical Joint

A spherical joint is similar to a revolute joint in that it only rotates.

Yet, a spherical joint has three degrees of freedom, rather than only one.  Any rotation is possible.

Hence we cannot compute easily a plane perpendicular to the rotation, and therefore, the planar rotation method is not suitable.

We can use either Cardan angles or quaternions.  Each method requires to represent the correct vector of angles in a different way.

Hence the bond graph only determines the angular velocities, using a Df element.  The Cardan angles or the quaternion vector respectively are integrated from the velocities using special elements.

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