Combining 2 joints

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Joined: 31 Jul 2018, 13:32

Combining 2 joints

Post by Jevgenerus » 04 Nov 2018, 22:24



I am making a simulation of the robot shown in the pictures above. While creating a dynamic model I encountered a problem.

As you can see, the second link is actuated by prismatic joint (Joint2). However, it seems that I need to add extra revolute joint (Revolute_joint) to constrain second link motion properly.
I have tried to link these joint with Link2 in different ways and enabling various joint modes (passive/torque etc). But I still could not able to achieve desired result.

My initial idea was to make both joints as a parent for Link2 in hierarchy tree, but as I found it is not possible to have 2 parents for one child.

What would be the best way to resolve this issue, or is there any possible workaround?


Posts: 350
Joined: 09 Sep 2013, 19:28

Re: Combining 2 joints

Post by fferri » 05 Nov 2018, 09:26

It appears you want to create a parallel kinematic chain.

Have a look at this and this.

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Re: Combining 2 joints

Post by coppelia » 07 Nov 2018, 08:05


you need to create a loop closure. Have a look here.
Have also a look at this example scene.


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