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SimMechanics

CHNG 5: SIMMECHANICS
Chng ny gii thiu v cc i tng trong th vin SimMechanics m phng cc i tng c kh.

1. SimMechanics
Khi ng SimMechanics: Start > Simulink > SimMechanics > Block Library.

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SimMechanics l cng c cho php m hnh ho cc chi tit c kh bao gm cc th vin nh sau:

1.1.

Bodies

1.1.1. Machine Environment Khi Machine Environment cho php xem v hiu chnh cc thng s c kh. Gravity vector: gi tr v hng ca vector gia tc trng trng, l mt vector c 3 phn t vi gi tr mc nh l [0 -9.81 0], n v m/s2. Input gravity as signal: gia tc trng trng c chn bng Simulink. Khi , khi Machine Environment phi c thm tn hiu ngoi l vector 3 thnh phn x, y, z.

Machine dimensionality: chn m phng 2D hay 3D.

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Analysis mode: chn m hnh phn tch.

1.1.2. Shared Environment Kt ni 2 m hnh c kh dng chung thng s. kt ni 2 h thng c kh dng chung thng s, kt ni cc port nh sau: Port a dng Port ca i tng Body

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1.1.3. Ground Biu din mt im c nh trn nn/gi , ni t gc ca h trc to . Mt khi Ground biu din mt im c nh trong h to tuyt i. Gn khi ny vo mt bn ca khp ngn chn s chuyn ng ca bn ca khp. Nh vy khi ny tng ng vi mt ngm. Ground nm trong th vin Bodies v n chnh l mt body c bit. Ta ch c th ni mt u ca n vi mt khp. Cc khi ground t ng ly h to c cc trc song song vi h ta (gn ti mt trong cc ground trc ) v gc ti ground point. Bt k mt m hnh SimMechanics no cng cn c t nht mt ground. Khng th ni cc khi cm bin cng nh kch ng vo ground v chng khng chuyn ng.

Thng s ca Ground ch c to ca n trong h trc to , l mt vector c 3 thnh phn x, y, z.

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1.1.4. Body Dng biu din mt vt th cng tu . Mt vt th cng c xc nh trong khng gian bi v tr trng tm v hng ca n trong mt h to no . Khi Body biu din mt vt th cng m thuc tnh ca n thay i tu ngi s dng. Cc thng s m t bao gm: Khi lng ca vt th v thng s biu din moment qun tnh To trng tm ca vt th (CG) Mt hay nhiu h to Body tu (Coordinate System - CSs) Trong SimMechanics, thuc tnh ca Body th hin qua hai tp hp: thuc tnh ca h trc to v thuc tnh khi lng: Thuc tnh h trc to c xc nh bi h to Body ca vt. i hi h to c gc t ti trng tm. im trng tm xc nh c v tr ban u ca ton Body v l gc ca h to trng tm. Ta cn phi t hng cho cc trc ca h to trng tm. C th t thm mt s h to trn Body. Mi h to c nh ngha bng v tr gc ca n v hng nhng trc to . Khi kt ni mt khi Joint, Constraint/ Driver, Actuator hoc Sensor vi mt Body cn n mt im mu trn Body. im mu ny l mt trong s nhng gc ca h to t trn Body. Cc port cho php kt ni h to Body vi cc khi khc.

Tp hp cc gc ca h to Body (k c h trng tm) xc nh v li ca Body, mt trong s nhng dng chun th hin Body trong khng gian. Thuc tnh khi lng nh ngha bng khi lng ca Body v thng s biu din qun tnh.

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- Khi lng l qun tnh ca Body ng vi gia tc dch chuyn ca trng tm bng 1 v lc tc dng bng 1 n v. - Thng s qun tnh th hin s phn b mt khi lng trong Body v iu khin gia tc quay ca Body xung quanh trng tm do tc dng ca moment xon. - Cc thnh phn ca thng s qun tnh iu khin hng ban u ca Body v lun lun c xt trong h to trng tm. Hng ca h to trng tm i vi h to khc bn ngoi Body (h to thc, h to trn mt Ground hay h to trn mt Body khc) xc nh hng ca Body i vi nhng Body khc hay i vi h to thc. - Thng s qun tnh ca Body nh ngha trc chnh ca n, moment v ellipsoid tng ng ca n, mt trong s nhng dng chun th hin Body trong khng gian. Trng thi mc nh ban u ca mt Body: V tr ban u: trng tm ca n. Hng ban u: thnh phn thng s qun tnh trong h to trng tm v hng ca h to trng tm i vi cc h to khc trong my. iu kin u c th thay i thng qua khi Joint Initial Condition Actuator trc khi m phng. Cc thng s:

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Mass Properties Mass: khi lng ca Body. Inertia tensor: thng s qun tnh (tng ng vi h to trng tm). Thng s ny phi l ma trn s thc 3x3, mc nh l ma trn n v 3x3. Khi lng im c thng s ny l ma trn zeros(3,3). Cc h to : Cu hnh h to : + Mc nh gm c ba h to : h to trng tm gn vi trng tm ca Body v hai h to Body tu khc dng kt ni Joint, Constraint hoc Driver. + C th cu hnh h to trng tm nhng khng th xo v khng th thm h to trng tm. + Cu hnh h to cn hai bc: - nh v gc to trong bng Position. - nh hng cc trc trong bng Orientation. + nh ngha h to Body cn tham chiu vi mt h to tn ti trc. Trong mt khi Body cho trc, c th tham chiu theo ba cch: - World. - H to khc trn cng mt Body. - Adjoining CS, h to trn Body k cn hoc Ground ni trc tip bi mt Joint, Constraint, hoc Driver. - Mi h to u phi tham chiu n Ground hay h to thc (trc tip hay gin tip). Khi tham chiu gin tip, mt h to phi tham chiu n mt h to khc v c tip tc n khi kt thc l Ground hay h to thc. - H to trng tm c t tn l CG, cc h to khc ln lt l CG1, CG2,

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Cu hnh cho Position: trng Position ca mi h to xc nh v tr tnh tin ca gc to .

Tnh tin theo h to no

Hng theo h to no

Cu hnh cho Orientation: xc nh gc quay so vi trc to tham chiu.

n v quay: , radian hay vng quay Euler:

Phng thc quay

Quay tun t 3 trc to . V d nh, Euler X-Y-Z l quay xung quanh trc X u tin, tip theo l trc Y, k tip l trc Z. Gc quay xc nh bng vector hng. 3-by-3 Transform: Xc nh bng mt ma trn quay trc giao. Ma trn trc giao R c tnh cht: R-1 = RT Ct ca R l cc vector n v ca cc trc ca h to . Quaternion:

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Xc nh gc quay ca cc trc theo vector 1x4 sau: [nxsin(/2) nysin(/2) nzsin(/2) cos(/2)]

n = (nx, ny,nz) l vector n v, l gc quay tun theo lut bn tay phi.

1.2.

Joints

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1.2.1. Prismatic Dng biu din mt khi lng tr mt bc t do (DoF Degree of Freedom) tnh tin kt ni 2 vt th.

Khi Prismatic ch kt ni vi ng 2 khi Body thng qua 2 port Base (mu ) v Follower (mu xanh). Hng di chuyn ca khp t Base ti Follower. Cc thng s:

Current base v current follower: cc khi Body ang kt ni vi khp.

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Number of sensors / actuator port: s lng port m rng thm kt ni vi cc khi Joint Actuator hay Joint Sensor. Gi tr mc nh l 0. Axes: xc nh hng tnh tin t do ca khp. Axis of Action: hng di chuyn. Reference CS: h to tham chiu. 1.2.2. Revolute Biu din khp quay mt bc t do.

Khi Revolute miu t mt bc t do quay n xung quanh mt trc xc nh gia hai Body. Hng quay c xc nh theo quy tc bn tay phi. Cc thng s ca khi Revolute ging nh khi Prismatic. 1.2.3. Spherical Biu din khp quay cu 3 bc t do.

Khi Sperical miu t ba bc t do quay xung quanh mt im trung tm. Hai bc t do quay xc nh mt trc to v bc th 3 xc nh gc quay theo trc to ny. Hng quay c xc nh theo quy tc bn tay phi. Cc thng s ca khi Shperical ging nh khi Prismatic.

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1.2.4. Planar Biu din mt khp kt hp hai bc t do tnh tin v mt bc t do quay, trc quay vung gc vi mt phng tnh tin.

Khi planar l s kt hp gia 2 khi Prismatic nguyn thu v mt khi Revolute nguyn thu. Lu rng qu trnh m phng s bo li khi hai trc ca 2 khi Prismatic song song nhau. 1.2.5. Universal Biu din mt khp kt hp hai bc t do quay, l kt hp gia 2 khi Revolute nguyn thu v khng c nh hng ln nhau gia cc khp.

1.2.6. Cylindrical Biu din mt khp kt hp mt bc t do tnh tin v mt bc t do quay trong trc quay v trc tnh tin song song nhau, l kt hp gia mt khi Prismatic v mt khi Revolute.

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1.2.7. Gimbal Biu din mt khp kt hp 3 bc t do quay, l kt hp gia 3 khi Revolute. Khi 2 trong 3 trc to ca cc khi song song nhau th qu trnh m phng s bo li Trng thi khi ng ca 3 trc to trc giao ln nhau.

1.2.8. Custom joint Biu din mt khp kt hp tu ti 3 bc t do tnh tin v 3 bc t do quay. Ta c th tu bin khi ny nh l kt hp ca cc khi nguyn thu Prismatic, Revolute, Sperical. C th thm, cu hnh, xo cc khp nguyn thu t Custom joint.

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1.2.9. Weld Biu din mi ni cng (khng bc t do). Hai Body ni vi khi Weld s c ni cng li, khng th chuyn ng vi nhau.

1.2.10.Telescoping Biu din mt khp kt hp mt bc t do tnh tin v ba bc t do quay, l kt hp gia mt khi Prismatic v mt khi Spherical.

1.2.11.In-plane Biu din mt khp kt hp hai bc t do tnh tin, l kt hp gia hai khi Prismatic.

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1.2.12.Bushing Biu din mt khp kt hp 3 bc t do tnh tin v 3 bc t do quay, l kt hp ca 3 khi Prismatic v 3 khi Revolute. Cc trc to tnh tin v cc trc to quay khng c song song vi nhau. 1.2.13.Bearing Biu din mt khp kt hp mt bc t do tnh tin v ba bc t do quay, l kt hp gia mt khi Prismatic v ba khi Revolute. Khi 2 trong 3 trc to ca cc khi song song nhau th qu trnh m phng s bo li. Trng thi khi ng ca 3 trc to trc giao ln nhau.

1.2.14.Six-DoF Biu din mt khp kt hp 3 bc t do tnh tin v 3 bc t do quay, l kt hp ca 3 khi Prismatic v 1 khi Spherical. Cc trc to tnh tin khng c song song vi nhau. 1.2.15.Screw Biu din mt khp kt hp 1 bc t do tnh tin v 1 bc t do quay trong cc trc to quay v tnh tin song song nhau ng thi c s kt ni dng bnh rng gia chuyn ng tnh tin v chuyn ng quay. Thread pitch: khong cch dch chuyn khi quay c 1 gc 360, gi tr mc nh l 1mm.

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1.2.16.Disassembled prismatic Biu din mt khp 1 bc t do tnh tin dc theo trc lch gia 2 vt th. Khi bt u m phng, SimMechanics s t ng gn 2 trc to .

1.2.17.Disassembled cylindrical Biu din mt khp kt hp 1 bc t do tnh tin v 1 bc t do quay dc theo trc lch, l kt hp ca mt khi Prismatic di chuyn dc theo trc v mt khi Revolute quay gn trc. Khi bt u m phng, SimMechanics s t ng gn 2 trc to .

1.2.18.Disassembled revolute Biu din mt khp 1 bc t do quay theo trc lch gia 2 vt th. Khi bt u m phng, SimMechanics s t ng gn 2 trc to .

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1.2.19.Disassembled spherical Biu din mt khp 3 bc t do sai khp. Khi bt u m phng, SimMechanics s t ng gn trc to .

1.2.20.Revolute Revolute Biu din mt khp kt hp gia 2 khp Revolute ni vi nhau bng mt thanh khng trng lng, chiu di khng i.

1.2.21.Revolute Spherical Biu din mt khp kt hp gia 1 khp Revolute v 1 khp Spherical ni vi nhau bng mt thanh khng trng lng, chiu di khng i.

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1.2.22.Spherical Spherical Biu din mt khp kt hp gia 2 khp Spherical ni vi nhau bng mt thanh khng trng lng, chiu di khng i.

1.3.

Constraints & Drivers

1.3.1. Distance Driver Xc nh khong cch gia hai h trc to ca 2 Body, l mt hm theo thi gian. Hm ny phi khng m trong qu trnh m phng. Cho r1, r2 l 2 vector xc nh gc ca 2 to trn, khong cch gia chng xc nh theo cng thc: |r1 r2| = d(t=0) + f(t). Khi Distance Driver c ni vi mt khi Driver Actuator. Tn hiu ng vo ca khi Driver Actuator xc nh hm f(t). Nu khng kt ni vi Distance Driver, khi ny s c nh khong cch gia 2 body trn bng vi gi tr khi ng d(t=0).

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1.3.2. Angle Driver Xc nh gc gia 2 trc to ca 2 body, l mt hm theo thi gian. Khi Angle Driver xc nh gc theo cng thc sau:

= (t=0) + f(t) Khi Angle Driver c ni vi mt khi Driver Actuator. Tn hiu ng vo ca khi Driver Actuator xc nh hm f(t). Nu khng kt ni vi Angle Driver, khi ny s c nh gc gia 2 body trn bng vi gi tr khi ng d(t=0). 1.3.3. Linear Driver Xc nh thnh phn khc nhau ca 2 gc to ca 2 body, l mt hm theo thi gian. Cho r1, r2 l 2 vector xc nh gc ca 2 to trn, t R = r1 r2 = (X,Y,Z) l vector ch s khc nhau ca cc thnh phn ca 2 gc to . X = X(t=0) + f(t) hay Y = Y(t=0) + f(t) hay Z = Z(t=0) + f(t) Khi Linear Driver c ni vi mt khi Driver Actuator. Tn hiu ng vo ca khi Driver Actuator xc nh hm f(t). Nu khng kt ni vi Linear Driver, khi ny s c nh s khc nhau gia cc thnh phn ca 2 gc to ca 2 body trn bng vi gi tr khi ng. Thng s: World Axis: xc nh thnh phn khc nhau l X, Y hay Z. 1.3.4. Velocity Driver Xc nh mt kt hp tuyn tnh gia vn tc di v vn tc gc, l mt hm theo thi gian. Cho vB, vF, B, F l cc vn tc di v vn tc gc trong h trc to thc; cB, cF, dB, dF l cc hng s. Khi Velocity Driver xc nh kt hp tuyn tnh theo cng thc sau: = cBvB + dBB - cFvF - dFF = (t=0) + f(t) Khi Velocity Driver c ni vi mt khi Driver Actuator. Tn hiu ng vo ca khi Driver Actuator xc nh hm f(t). Nu khng kt ni vi Velocity Driver, khi ny s c nh s kt hp trn trn bng vi gi tr khi ng.

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1.3.5. Point-Curve Constraint Xc nh gc to trn mt body chuyn ng thnh mt ng cong so vi body khc. ng cong c xc nh bng cc im di chuyn, gn trong phn thng s ca khi Point-Curve Constraint. Cc thng s: Breakpoints: xc nh cc im to thnh ng cong. X-components, Y-components, Z-components: l cc vector xc nh cc thnh phn (X,Y,Z) ca cc im breakpoints. End conditions: xc nh iu kin kt thc. Natural: dc ca ng cong ti im kt thc v im bt u ging nh dc ca 4 im gn nht (ti thiu cn 2 im breakpoints). Not-a-knot: ng cong v o hm cp 1 ca n ch lin tc ti im u v kt thc (ti thiu cn 4 im breakpoints). Periodic: im u v cui trng nhau (ti thiu cn 2 im breakpoints).

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1.3.6. Parallel constraint Bt buc 2 trc to ca 2 body song song nhau. Gi aB, aF l 2 vector xc nh trc to ca 2 body, khi Parallel Constraint yu cu: |aBaF| = |aB||aF| Ta cn phi nh hng ban u cho cc trc to ny, xc nh trong phn thng s Parallel Constraint Axis ca khi. 1.3.7. Gear constraint Bt buc 2 trc to chuyn ng quay theo dng bnh rng trn. Cc tm vng trn l gc ca cc h to v cc vng trn ny tip xc vi nhau. Gi r1, r2, 1, 2 ln lt l bn knh ca cc ng trn v vn tc gc ca cc body: 1r1 = 2r2 Khi s dng khi Gear Constraint, cn phi kt ni 2 body ( kt ni vi Gear Constraint) vi body th 3. Nu body th 3 l Ground th phi dng c 2 Ground cho 2 body trn.

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1.4.

Sensors & Actuators

1.4.1. Body Actuator Tc dng mt lc (tnh tin) hay moment (quay) vo body. Lc tc ng l mt hm theo thi gian, l mt tn hiu Simulink (c th l tn hiu t Sensor).

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Cn phn bit r khi Body Actuator vi cc khi Driver: Khi Body Actuator tc ng lc vo Body trong mt h quy chiu xc nh. Khi Driver truyn ng gia cc Body. 1.4.2. Joint Actuator Tc ng lc (tnh tin dc theo khp), moment (quay) hay chuyn ng ti mt khp nguyn thu. Khi tc ng qu trnh chuyn ng n khp: Chuyn ng tnh tin: cn 3 thng s v tr, vn tc v gia tc trong vn tc l o hm ca v tr, gia tc l o hm ca vn tc. Chuyn ng quay: cn 3 thng s gc quay, vn tc gc v gia tc gc trong vn tc gc l o hm ca gc, gia tc gc l o hm ca vn tc gc.

Mt khp nguyn thu ch c th truyn ng n 1 khp . Mt khp kt hp c nhiu khp nguyn thu bn trong v ta c th chn khp c truyn ng. Khng th kt ni Joint Actuator vi khp Spherical. Cn phi thm port vo cc khp c th kt ni vi khi Joint Actuator.

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1.4.3. Driver Actuator To mt chuyn ng tng i gia 2 body. Khi Driver Actuator tc ng n mt khi Driver gia 2 Body (xem phn 1.3), ng vo ca khi Driver Actuator l mt hm theo thi gian v cc o hm cp 1, cp 2 ca n. Tn hiu ng vo gm c 3 thnh phn (ngoi tr tc ng n khi Velocity Driver th cn 2 thnh phn) theo th t l f(t), df(t)/dt, d2f(t)/dt2 (khi Velocity Driver khng c o hm cp 2). ngha ca hm f(t) tu thuc vo khi Driver c kt ni: tnh tin (Distance Driver, Linear Driver, Velocity Driver) hay quay (Angle Driver). Ta khng bt buc phi kt ni mt khi Driver vi khi Driver Actuator. Khi , khi Driver c nh chuyn ng tng i ca cc Body theo iu kin u. Cn phi thm port vo khi Driver kt ni vi Driver Actuator.

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1.4.4. Body Sensor o qu trnh chuyn ng ca body (tm v tr, vn tc hay gia tc). Khi Body Sensor o cc thnh phn ca chuyn ng tnh tin hay quay: Tnh tin: v tr, vn tc v gia tc. Thnh phn cui ca vector v tr nm ti gc ca h to thc. Quay: ma trn 3x3 xc nh hng, vn tc gc v gia tc gc.

Ma trn quay R l ma trn trc giao: RRT = RTR = I.

1.4.5. Joint Sensor o chuyn ng, lc hay moment ca khp nguyn thu. Tnh tin (khp Prismatic): o v tr, vn tc v gia tc. Quay (khp Revolute): o gc quay, vn tc gc v gia tc quay. Cu (khp Spherical): o php ton Quaternion, o hm cp 1 v cp 2.

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1.4.6. Constraint & Driver Sensor o lc / moment cng bc gia mt cp Body. Ta kt ni khi Constraint & Driver Sensor vi khi Constraint hay Driver c ni gia mt cp Body.

1.4.7. Joint Initial Condition Xc nh v tr v vn tc ban u ca khp nguyn thu trc khi bt u qu trnh m phng. Cc gi tr ny c 2 loi: iu kin tnh tin cho khi Prismatic: v tr v vn tc. iu kin quay cho khi Revolute: gc quay v vn tc gc. Khng th ni vi khp Sperical.

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1.4.8. Variable Mass & Inertia Actuator Cho php thay i khi lng v qun tnh ca body thay i theo thi gian. C th kt ni nhiu khi Variable Mass & Inertia Actuator vo mt Body, mi khi ni vi mt port ring. Cc tc ng ca khi ny nh sau:

Ch thay i khi lng: thm vo mt khi lng im thay i theo thi gian vo Body c kt ni. Ch thay i qun tnh: thm vo ma trn thng s qun tnh thay i theo thi gian. Thay i c khi lng v qun tnh: thm vo mt body n, ging nh kt ni vi Body khc bng Weld, ngoi tr khi lng v qun tnh thay i theo thi gian. 1.4.9. Joint Stiction Actuator To ma st tnh cho mt khp nguyn thu di dng lc / moment tng i gia cc Body ni vi khp. Khng th tc ng ng thi mt Joint Stiction Actuator v Joint Actuator ln mt khp nguyn thu m dng port External Actuator trn khi Joint Stiction Actuator thay th cho khi Joint Actuator. C th tc ng ng thi khi Joint Stiction Actuator v Joint Initial Condition Actuator hay ng thi o lc / moment bng khi Joint Sensor. Khng th ni vi khp Spherical.

1.5.

Force & Elements

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1.5.1. Body Spring & Damper M phng dao ng ca lc cn gia 2 Body. Khi kt ni vi 2 Body, ta gi rA, rB l v tr ca 2 Body, vector v tr tng i l r = rA rB v vn tc tng i l v = dr/dt, lc tc ng ca 2 Body l: F = -k(|r| - r0)(r/|r|) b(vr)(r/|r|2)

1.5.2. Joint Spring & Damper M phng dao ng ca lc /moment cn ca khp ni 2 Body. Tnh tin: F = -k(x x0) bv Quay: F = -k( 0) b

2. V d
2.1.
-

Thanh n

Khi ng SimMechanics: Start > Simulink > SimMechanics > Block Library. To m hnh mi: File > New > Model. Double click vo th vin Bodies, ko v th i tng Machine Evironment v Ground vo m hnh mi to. Double click vo i tng Ground cu hnh.

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Chn v tr ca Ground trong h to thc l (3,4,5) v chn vo check box Show Machine Environment port. Sau , kt ni khi Ground vi khi Machine Environment (chn Format > Flip Block hay nhn Ctrl+I quay khi).

Xt thanh dao ng l thanh thp vi chiu di L = 1m v bn knh r = 1cm, khi lng thanh m = r2L = 2.49 kg v ma trn thng s qun tnh:

] [ ]

Thanh thp c trng tm ti to (2.5,4,5). Ko v th i tng Body vo m hnh v cu hnh nh sau:

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Xo h to CS2, v t h to trng tm CG v CS1 nh hnh v.

Double click vo th vin Joints, ko v th khi Revolute vo m hnh.

Chn khi Revolute v nhn Ctrl+I c th kt ni F vi Body v B vi Ground. Current base c kt ni vi GND@Ground xc nh Base ca khp ni vi Ground ti to (3,4,5). Current follower c kt ni vi CS1@Body xc nh Follower ca khp kt ni vi CS1 ca Body1 ti to (3,4,5). Hng quay ca khp l trc z. Chn s port kt ni vi sensor / actuator l 1.

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Double click vo th vin Sensors & Actuator, ko v th khi Joint Sensor vo m hnh. Kt ni khi Revolute vi khi Joint Sensor.

Double click vo khi Joint Sensor, chn vo check box Angle, Angular Velocity v b chn check box Output selected parameters as one signal pha di. M Simulink Browser Library, ko v th cc khi Mux (th vin Signal Routing), Scope, XY Graph (th vin Sinks) vo m hnh. Kt ni cc khi nh hnh v.

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Lu li m hnh vi tn spen.mdl. Cu hnh cc thng s cho qu trnh m phng: Simulation > Configuration Parameteres.

Trong phn Solver, thay i Relative tolerance thnh 1e-6, Absolute tolerance thnh 1e-4, Max step size thnh 0.2, Stop time thnh inf. Cu hnh cc khi hin th:

Double click vo khi XY Graph, thay i cc thng s xmin = 0, xmax = 200, ymin = -500, ymax = 500.

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Nhn vo nt Start Simulation thc hin qu trnh m phng. Double click vo khi Scope v nhn vo nt Autoscale hin th cc tn hiu v tr v vn tc.

M phng hot ng ca thanh: Simulation > Configuration Parameteres.

Trong phn Simscape > SimMechanics, click chn vo 2 check box Display Machines after updating diagram v Show animation during simulation. chn dng hnh hc ca thanh, trong ca s m phng Machine of model: spen, chn menu Model > Body Geometries > Ellipsoids.

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2.2.

C ch bn thanh

Chi tit ca h thng nh sau:

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2 khi Ground, to Ground 1 l (0.433 0.04 0) v Ground 2 l (-0.434 0.04 0). 4 khi Revolute ti 2 Ground v 2 u thanh 2.

Khi Revolute 1: ni Ground 1 v thanh 1. Khi Revolute 2: ni thanh 1 v thanh 2. Khi Revolute 3: ni thanh 2 v thanh 3. Khi Revolute 4: ni Ground 2 v thanh 3. 3 khi Body, ng vi thanh 1, thanh 2 v thanh 3

Thanh 1: chiu di 0.6m, to trng tm (0.03 0.282 0) (so vi to Ground 1) 0.03 = 0.283*sin(6.040); 0.282 = 0.283*cos(6.040) To kt ni vi thanh 2 l (0.063 0.597 0)(so vi to Ground 1) 0.063 = 0.6*sin(6.040); 0.597 = 0.6*cos(6.040) Hng ca thanh 1 l: (0 0 83.10). Thng s cc thanh 2 v 3 tng t. Bng thng s cc thanh trong h thng:
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Thanh

Thuc tnh Mass Inertia tensor CG 5.357

Gi tr

[1.07e-3 0 0;0 0.143 0;0 0 0.143] [0.03 0.282 0] theo CS1 [0 0 0] Adjoining (theo Ground) [0.063 0.597 0]

1 CS1 CS2

CG Orientation [0 0 83.1] Mass Inertia tensor CG 2 CS1 CS2 [0 0 0] Adjoining [-0.87 0.493 0] 9.028 [1.8e-3 0 0;0 0.678 0;0 0 0.678] [-0.427 0.427 0] theo CS1

CG Orientation [0 0 29.5] Mass Inertia tensor CG 3 CS1 CS2 [0 0 0] Adjoining 0 0 0] Adjoining 0.991 [2.06e-4 0 0;0 1.1e-3 0;0 0 1.1e-3] [-0.027 -0.048 0] theo CS1

CG Orientation [0 0 60] Thm vo cc khi Joint Sensor ti Revolute 2 v Revolute 3 o gc quay. Xy dng m hnh nh sau v thc hin m phng vi thng s Absolute tolerance trong Simulation > Configuration Parameters > Solver l 1e-6.

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