Kinematic Codnditions in Simscape

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Matthias Hueber
Matthias Hueber 2021-2-23
回答： Yifeng Tang 2021-4-29
Hello everyone,
I am trying to build a parallel-driven Cable Robot which is regulated by a controlsystem. The controlsystem needs about 0.021 seconds to build up the forces to hold a Platform.
My question is, if it is possible to have a kinematic condition, that "freezes" the platform in place for 0.021 seconds, so that the forces can build up and how i would implement it.
Thanks in advance.

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回答（1 个）

Yifeng Tang
Yifeng Tang 2021-4-29
I can't think of a way to do this exactly kinematically (not claiming it's impossible though), but here may be a workaround:
Place a solid underneath your plarform and model the contact force between the solid and the platform. Constraint the solid with the ground using a prismatic joint so you can "slide" the solid away after 0.021 seconds, by prescribing a motion. Turn off any friction in the contact force so when sliding out there is no friction. More info on the contact force modeling: https://www.mathworks.com/help/physmod/sm/ug/modeling-contact-force-between-two-solids.html

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