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Kinematic Codnditions in Simscape

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Matthias Hueber
Matthias Hueber on 23 Feb 2021
Answered: Yifeng Tang on 29 Apr 2021
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.

Answers (1)

Yifeng Tang
Yifeng Tang on 29 Apr 2021
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:

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