How can I connect a joint actuator to a revolute joint in SimMechanics ?

Question

nour islam mokhtari 2016-2-20

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https://ww2.mathworks.cn/matlabcentral/answers/269194-how-can-i-connect-a-joint-actuator-to-a-revolute-joint-in-simmechanics

评论： Jorge Zarate Jimenez 2022-1-7

采纳的回答： Steve Miller

I am trying to model a Delta Robot in SimMechanics...something like this :

So I started with modelling just one leg with the following SimMechanics utilities :

And then I assembled everything in something like this :

I'm sure there must be other changes that I need to make so that my model would work smoothly but I'm trying to make this work for now. When I compile there is an error saying : "Primitive P1 was not found on the Joint. Select a legal primitive to actuate in the Joint Actuator dialog." I only have some assumptions on how models in SimMechanics work and from what I understood, P1 should be a "prismatic" joint since revolute joints are symboled with the letter "R" but I don't have any prismatic joint in my blocks so I am confused on how to tackle this problem, I have checked the joint actuator in all the legs and it's linked to a revolute joint :

Any help is appreciated on the source of the problem and how to fix it. Thanks in advance.

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Dennie 2016-2-22

It could be that the joint itself is ill defined instead of the actuator. But it is difficult to judge from this information.

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Answer 1

Steve Miller 2018-3-6

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The diagnostic should link to the block which is generating the error message, and from there you should be able to double-click on the block and select the required primitive. The default value may be "P1", which is why you need to manually change it to R1.

It looks like you copy/pasted from the Stewart Platform example. That example has a prismatic joint in each leg.

You should strongly consider using the Second Generation of Simscape Multibody. It has a lot of advantages over the the First Generation technology.

--Steve