How to keep a solid stationary even when a force is acting upon it?
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Hello,
I am trying to have a solid cube (10 10 10 cm) remain stationary when a force acts upon it.
The cube is connected to a prismatic joint and the force comes from a Generic Linear Actuator using a translation 3D-to-1D interface (Simscape Mulibody Multiphysics Library). The joint is also connected to another solid, a rotary arm, I want the rotary arm to move as normal.
I have tried connecting the solid to the world frame, however, this causes an error to occur (model not assembled error). I have also applied the appropriate setting to allow for forces to act on rigid bodies and not produce an error message.
I have inserted the Simulink/Simscape file in question, the area of concern is subsystem 2.
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SYED IMTIAZ ALI SHAH
2019-8-14
Dear Samuel Hayward, You have attached Linear Acutator between Red Block and Solid 5 (Arm). It proudces actuation in Z direction. (Rigid Transform3). The motion that you see (revolute) is due to the reaction force of Red Block on the Arm.
Now
Do you want you Red Block firmly attached to Arm?
Do you also want rotation?
if you want the above why not fix (remove prismatic joint) the Red block to Arm and use DC Motor for revolute joint?
Dont you think a simple DC Motion will make life easy?
回答(1 个)
Steve Miller
2021-10-25
Hi Samuel,
I adjusted your model so that the red brick is rigidly attached to ground using a Rigid Transform, and the motor is applying its force directly to the red brick. The red brick does not move.
When you attach an item to ground between two different paths (via the arm and via the Rigid Transform to hold it in place), you have to make sure those paths are consistent. I used a Transform Sensor to measure the distance to the World Frame and used those values to set the offset in the Rigid Transform block.
--Steve
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