You can use the Spring and Damper feature to apply a spring or a dashpot to act on the relative motion in a joint. A dashpot can be used to account for various kinds of losses at the joint. The spring can be given a predeformation so that the spring equilibrium position is not the same as the initial state.
where ku is the spring constant and
u0 is the predeformation.
where cu is the damping coefficient.
In the case of a Planar Joint, springs and dashpots are attached along user-defined axes oriented in a plane perpendicular to the joint axis. The spring axis and dashpot axis can differ. The forces are proportional to the relative displacement along the spring axis (
us) and relative velocity along the dashpot axis (
udp), respectively:
where es is the normalized spring axis and
edp is the normalized damper axis.