How can I connect fixed 3 cable spool to a box in 3 different directions ?

The goal is to have a model as same as pic 4 which is the one side of our robot. For now, the simplified model can be seen in picture 1,2,3. I built my model and connect 3 simple parts of the model together . I get different error that I would like to share with you in the meeting. Here is the summary of my questions:

1. As you can see in picture 3 , three cable module which has the spools and pulley inside or attached to it, are connected to 3 ankers. And these cable modules are connected to Rocap which is a solid body for now as you can see in the model. I tried different method for connection with weld and solid body connection, but I am not sure which on is the best because they messed up the visual of my model!
2. My other question is when I connected these three cable modules to the Rocap to have the complete model, I wanted to relocate the Anker position in the space to have better angle respect to my pullet 2 of them were located without any problem but when I tried for cable_module_2 it completely messed up my model.

These are main issues.

Answer 1

[Steve Miller]

Hi there. I looked at your model and simplified based on my best guess from the diagrams you attached. I think your original model was missing a connection between the Rocap and ground, and there were some extra joints in the model.

I have simplified it to two connections and put in some actuation to have it move up and down. The adjusted model is attached here and the animation is below. For a similar example, see the example model Cable Robot.

--Steve

[Mana]

Hi Steve, Thank you very much for your time and the model . It is really helpful. I will take a look deeper and get back to you.

[Mana]

Hi Steve, The version that you used to creat the model is 2022, my Simscape toolbox is 2022 but my whole Matlab and Simulink is 2018b . Please lcheck the detail below :

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MATLAB Version: 9.5.0.1586782 (R2018b) Update 8

MATLAB License Number: 612202

Operating System: Microsoft Windows 10 Éducation Version 10.0 (Build 19042)

Java Version: Java 1.8.0_152-b16 with Oracle Corporation Java HotSpot(TM) 64-Bit Server VM mixed mode

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MATLAB Version 9.5 (R2018b)

Simulink Version 9.2 (R2018b)

Computer Vision System Toolbox Version 8.2 (R2018b)

Control System Toolbox Version 10.5 (R2018b)

Data Acquisition Toolbox Version 3.14 (R2018b)

Deep Learning Toolbox Version 12.0 (R2018b)

Image Acquisition Toolbox Version 5.5 (R2018b)

Image Processing Toolbox Version 10.3 (R2018b)

MATLAB Compiler Version 7.0 (R2018b)

MATLAB Compiler SDK Version 6.6 (R2018b)

Signal Processing Toolbox Version 8.1 (R2018b)

Simscape Version 4.5 (R2018b)

Simscape Multibody Version 6.0 (R2018b)

Statistics and Machine Learning Toolbox Version 11.4 (R2018b)

Symbolic Math Toolbox Version 8.2 (R2018b)

Unfortunaitly I can not open your model. Is it possible to change it to the version that I have ?

[Steve Miller]

Attached is a version that I exported for use with MATLAB R2018b

[Mana]

Hi Steve. I hope you are doing great. i checked the model. Here are my questions: I see that to make rocap moving in space you used the Rectangular Joint. Is it any whay that we can let the Rocap be freely moving in the space without conection it to Zero position in space ? I tried to design another model with more anker and Pulley cable and no Joint for Rocap to be conected to world system. There is kienamtic error when i run my model.