Whats going on with this example in Mathworks? (user-added-coordinate-systems)
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Hello all :)
Well I am working on a very interesting project concerning a gear system that will rotate a shaft and some gear systems. I am following a tutorial from matlab http://nl.mathworks.com/help/physmod/smlink/examples/user-added-coordinate-systems.html#zmw57dd0e474 on how to decouple and have two gears rotating.
Well, I need some hold on understanding the following figure, that is the output of the above link.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/158189/image.png)
So what I do next is un-weld the two gears by deleting the conection of F1, and later introducing the common gear constraint by conecting it to the SMLINK port on both gear"_" boxes. I get and unusual message that says:
" *** Model not assembled: position violation *** Resolve this issue in order to simulate the model."
Can some one explain what is happening?
Also, what is the difference between 1st generation, and multibody Simscape? can I have joint actuators in both cases? and if so how would i be able to implement such in the example given above?
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Steve Miller
2021-10-29
Hi Giorgos,
You need to make sure the frames that are connected to the Common Gear Constraint have the correct orientation. This documentation page shows the frame orientations you need to have.
You can actuate joints in Second Generation Technology. Within the Joint, you can expand the Actuation section of the UI and set Motion actuation to "Provided by Input" and Torque to "Automatically Computed". An input will appear on the Joint and you can specify the angle using a signal.
--Steve
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