- First remove the existing 6DOF joints that connect to the world frame.
- Replace them with revolute joints at the points of articulation between the robot's links.
- Establish a hierarchy where each link is connected to the previous one, starting from the base.
- Configure the revolute joints with appropriate parameters such as axis of rotation and motion limits.
- Connect the joints to the corresponding solid blocks representing the robot's links, ensuring they form a kinematic chain.
- Simulate the model to test and adjust as necessary, then add actuators and sensors if required, and fine-tune the physical parameters to match the real robot.
Rearrange simulink blocks connected to world frame
1 vue (au cours des 30 derniers jours)
Afficher commentaires plus anciens
Hi,
I have prepared a 3r robot 3d model in inventor software and imported it into simulink. There are no assembly constraints such as rotation , joint specified in 3D software.When i import the 3d model into simulink all the blocks are connected to world frame through 6DOF.I have attached the image. I am planning to replace 6DOF joints with revolute.I want to make all joints rotate to each other. When i simulate this rightnow individual joints are rotated seperately as they are connected to world frame. How can i rearrange them so that they are connected to each other while rotating? I have also attached the simulation snip after 6DOF joints are replaced with Revolute joints.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/1357018/image.jpeg)
0 commentaires
Réponses (1)
Abhinaya Kennedy
le 25 Jan 2024
Hi Claude,
To make your 3R robot's joints rotate relative to each other in Simulink,
Hope this helps!
0 commentaires
Voir également
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!