The middle peiece of revolute joints offsets in simulation

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chathu1
Posts: 17
Joined: 03 Jun 2023, 01:05

The middle peiece of revolute joints offsets in simulation

Post by chathu1 »

I made a model with four revolute joints and made the hierarchy correctly as well. When I simulate, the sort of outer body of revolute joint offsets from the core and I have no idea why it does this. It is one single joint that comes with the software by default and they are supposed to work as just one piece. Any help please??
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coppelia
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Posts: 10336
Joined: 14 Dec 2012, 00:25

Re: The middle peiece of revolute joints offsets in simulation

Post by coppelia »

Hello,

this happens with dynamically enabled joints. If the two masses the joint connects to exert too large forces, then the joint will come apart with most physics engines. Exception to this is the MuJoCo engine.
In any case, this indicates normally one of following:
  • the mass ratio between attached masses is too large
  • the inertia ratio between attached masses is too large
  • the joint is rotating too fast
See also the various design considerations when building a dynamic model

Cheers

chathu1
Posts: 17
Joined: 03 Jun 2023, 01:05

Re: The middle peiece of revolute joints offsets in simulation

Post by chathu1 »

Thank you

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