Joint Sensor - simmechanics

Question

Sasi sudhahar 2011-6-6

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https://ww2.mathworks.cn/matlabcentral/answers/8874-joint-sensor-simmechanics

Dear Sir/madam, I have a question regarding joint sensor . I think the Jointsensor is only for measuring various outputs like position , computed force , reaction force etc. By default there was a computed force option in it. When I requested for measuring position along with computed force the complete dynamics of the machine has changed. Can you please explain me why this happens?

And in the reaction force window I get three lines in three different colors. Actually I was expected just a single line representing the reaction force at a particular joint of the machine. What does the three different lines represent ?

Expecting a good explanation at the earliest. Thanks in advance.

Thanks and r

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Answer 1

Arnaud Miege 2011-6-6

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With regards to your first question, that shouldn't happen. The dynamics of the machine shouldn't change depending on what you choose to measure with your joint sensor. Can you upload your model to a filesharing site?

For your second question, the reaction force has components on all 3 axes, whereas the computed force is the projection of the reaction force on the axis of the joint primitive, see the Joint Sensor documentation (scroll down to "Reaction and Computed Force on a Joint"). The 3 lines therefore represent the components on each of the 3 axes, X, Y and Z.

HTH,

Arnaud