3 DoF Revolute joints like spherical joint

Typically: "How do I... ", "How can I... " questions
Post Reply
SitStudent
Posts: 23
Joined: 05 May 2020, 12:07

3 DoF Revolute joints like spherical joint

Post by SitStudent »

Hi

I make the scene that dynamics model with 3 Revolute Joints behave same as like kinematics model.
I attached a URL of movie, so please look at this.
https://drive.google.com/file/d/10VS7Yn ... sp=sharing

X axis and Z axis rotation is exactly same as kinematics model(Cylinder).
However, Y axis rotation is different.

I guess this cause from a mathematical problem but, is there solution this problem?

Sincerely,

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

Re: 3 DoF Revolute joints like spherical joint

Post by coppelia »

Hello,

you just have a problem with the order of your joints and possibly also with the sign. Your 3 revolute joints should obviously perpendicular with each other. The Z axis should be mounted on the Y axis, itself mounted on the X axis.

But your right cylinder is initially not aligned with the world.

Cheers

Muneeb
Posts: 2
Joined: 19 Mar 2021, 15:42

Re: 3 DoF Revolute joints like spherical joint

Post by Muneeb »

Hello!
In my opinion, your cylinders have been marked collidable from scene object properties ---->common. That's why during movement across the x-axis and z-axis it is working fine. But, cylinders collide with each other across the y-axis.
Either you make objects uncollidable or place them at a suitable distance.

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

Re: 3 DoF Revolute joints like spherical joint

Post by coppelia »

In next release (V4.2.0+), there will be a scene illustrating exactly this: scenes/eulerAngles.ttt
You may contact us to get it in the mean time.

Cheers

SitStudent
Posts: 23
Joined: 05 May 2020, 12:07

Re: 3 DoF Revolute joints like spherical joint

Post by SitStudent »

thank you for your advices.

I changed the order of joins and it looked better.
If there is a preparation for solution of it, I'm going to contact CoppeliaSim.

Post Reply