Kinematic Codnditions in Simscape

Hello everyone,

I am trying to build a parallel-driven Cable Robot which is regulated by a controlsystem. The controlsystem needs about 0.021 seconds to build up the forces to hold a Platform.

My question is, if it is possible to have a kinematic condition, that "freezes" the platform in place for 0.021 seconds, so that the forces can build up and how i would implement it.

Thanks in advance.

Answer 1

[Yifeng Tang]

I can't think of a way to do this exactly kinematically (not claiming it's impossible though), but here may be a workaround:

Place a solid underneath your plarform and model the contact force between the solid and the platform. Constraint the solid with the ground using a prismatic joint so you can "slide" the solid away after 0.021 seconds, by prescribing a motion. Turn off any friction in the contact force so when sliding out there is no friction. More info on the contact force modeling: https://www.mathworks.com/help/physmod/sm/ug/modeling-contact-force-between-two-solids.html