Ball balancing plate system does not seem stable

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rohith
Posts: 3
Joined: 02 Aug 2019, 13:31

Ball balancing plate system does not seem stable

Post by rohith » 10 Oct 2019, 06:43

Hello there,
I am trying to simulate a closed kinematic chain ball balancing system on V-REP. I want it to first stay at it's initial position with the motors at their zero positions. I have tried my best to make it work, but still it doesn't seem stable even with ODE physics engine. I would highly appreciate it if you can recommend any steps to solve this issue.
I have uploaded the scene here : https://www.dropbox.com/s/hmlhlwoq4zl7d ... 2.ttt?dl=0
Last edited by rohith on 11 Oct 2019, 02:38, edited 1 time in total.

RL_Niryo
Posts: 14
Joined: 03 Oct 2019, 17:05

Re: Ball balancing plate system does not seem stable

Post by RL_Niryo » 10 Oct 2019, 10:26

Hi,

I'm not an expert, but I also had some unstability issues and I solved that by using Bullet 2.83 engine. I do not know why, but it worked on my scene

Cheers

rohith
Posts: 3
Joined: 02 Aug 2019, 13:31

Re: Ball balancing plate system does not seem stable

Post by rohith » 10 Oct 2019, 17:39

Hello RL_Niryo,
Thank you for the reply. I tried doing the same, but it did not give me any positive results. I have a feeling it might have to do something with inertias or singularities.

coppelia
Site Admin
Posts: 7330
Joined: 14 Dec 2012, 00:25

Re: Ball balancing plate system does not seem stable

Post by coppelia » 15 Oct 2019, 10:26

Hello,

if you display the contact points you'll know why your mechanism is not stable: adjacent parts are constantly colliding. YOu can enable/disable contact point display in the general dynamics properties.

Also, make sure to carefully read this page, mainly design considerations 1-3 and 6-8.

Cheers

rohith
Posts: 3
Joined: 02 Aug 2019, 13:31

Re: Ball balancing plate system does not seem stable

Post by rohith » 16 Oct 2019, 07:26

Hello Coppelia, thank you. I will definitely look into it.

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