Revolute Joint: Actuation by Torque AND Motion

14 次查看（过去 30 天）
Thomas Scheu
Thomas Scheu 2023-3-1
评论： Joel Van Sickel 2023-10-18
Hi,
for my model i want to actuate a revolute joint by a constant torque and a known motion. This is because I have a constant input rotational speed, but a variying torque.
It works by applying torque and motion separately, but in combination I get the following error:
"In the dynamically coupled component containing Revolute Joint 'Test_Shaft_Gear_3/Revolute Joint', there are fewer joint primitive degrees of freedom with automatically computed force or torque (0) than with motion from inputs (1). The prescribed motion trajectories in this component may not be achievable. Solve this problem by reducing the number of joint primitives with motion from inputs or increasing the number of joint primitives with automatically computed force or torque. Resolve this issue in order to simulate the model."
Is anybody out there to help me?

请先登录，再回答此问题。

回答（1 个）

Joel Van Sickel
Joel Van Sickel 2023-3-10
You cannot apply torque AND motion like this. If you apply torque, the model will calculate what the motion is for you. If you apply motion, the model will calculate the torque for you. So you need to pick only one of them.
  2 个评论
Thomas Scheu
Thomas Scheu 2023-10-18
Is there an option for a joint which is fully specified?
My problem is I have a simple gear on a shaft and i want to add power to this shaft/gear (so I know the velocity AND the torque of the shaft).
Joel Van Sickel
Joel Van Sickel 2023-10-18
You can know the velocity and torque of the shaft, but from a modelling perspective you can only use one of them as an input. In most cases, trying to apply torque and motion to a joint overspecifies the problem such that is is mathematically impossible to solve. If you want to apply a constant power, you can measure the speed, and then apply the appropriate torque.
However, you might be happier using inverse kinematics:
https://www.mathworks.com/help/sm/ref/simscape.multibody.kinematicssolver.html#mw_82d84a8a-46eb-4989-957e-d5ed2d00577d
I

请先登录，再进行评论。

类别

在 Help Center 和 File Exchange 中查找有关 Multibody Dynamics 的更多信息

标签

产品


版本

R2022b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by