Damping link with two spherical joints

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Wilsonator
Posts: 45
Joined: 25 Sep 2015, 19:10

Damping link with two spherical joints

Post by Wilsonator »

So I have a link in my robot that is connected by two spherical joints (see below). In reality there is some friction that prevents a build-up of inertia when the link is in operation. In simulation since spherical joints can only be passive these links build up energy until they are spinning about their axis at very high speeds, affecting the dynamics of the whole system.

I have also tried using three revolute joints joined by spheres at the joint (which can be damped), however without moderate sized masses and inertias for the spheres the links are prone to separate during motion (and moderate sized masses/inertias begin to effect system overall dynamics).

My question is, is there a way to add damping to this link connected by two spherical joints to keep the energy of this link in check?

Image

coppelia
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Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: Damping link with two spherical joints

Post by coppelia »

Hello,

what you can do is add some linear/angular damping to the shapes in-between the two spherical joints. This is similar to some linear/angular drag and will reduce the spinning.

Cheers

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