Simscape Multibody: Variable Stiffness in Revolute joint with motion as input

Question

Raphael Bonarens 2019-4-30

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/459422-simscape-multibody-variable-stiffness-in-revolute-joint-with-motion-as-input

回答： Juan Sagarduy 2020-10-23

I wish to implement a revolute joint block that uses motion as input with a variable stiffness. However, for the revolute joint block, only scalar values are accepted for the stiffness parameter.

In this answer https://www.mathworks.com/matlabcentral/answers/401095-could-the-value-of-spring-stiffness-in-the-revolute-joint-block-simscape-be-variable a feedback loop is suggested. However, this is not possible with motion as input of the joint.

I tried manipulating the parameter in several ways but failed. Unlike with other simscape blocks, it is not possible to view the source code of simscape multibody blocks.

Is there any way to make this work?

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Abhinaba Basu 2020-10-19

Is there any solution to this? I too have the same issue

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Answer 1

Juan Sagarduy 2020-10-23

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/459422-simscape-multibody-variable-stiffness-in-revolute-joint-with-motion-as-input#answer_522958

在 MATLAB Online 中打开

Hi Raphael

There is no simple way of doing this by remaining in kinematic mode (constrained motion).

 If you use the joint actuated dynamically, it will receive the driving torque to follow the angle prescribed.
 There will be a negative component resulting from the variable stiffness in a Simscape system fed by the sensed rotational speed.

Hope this helps Br Juan