Dummy constraint problem in a dynamic model

Typically: "How do I... ", "How can I... " questions
Post Reply
yyjyyj
Posts: 3
Joined: 19 Nov 2024, 07:40

Dummy constraint problem in a dynamic model

Post by yyjyyj »

I've built a hybrid parallel-serial robot model in CoppeliaSim, but I'm encountering two critical issues. First, although I used dynamic dummies at the junction where the three parallel branches connect, the chains still separate during simulation. More importantly, the entire robot exhibits violent shaking throughout the motion. I'm not sure how to resolve this. Any advice would be greatly appreciated!
Here is the model file https://github.com/yyjyyj1313/coppelias ... e0/trimule
coppelia
Site Admin
Posts: 10747
Joined: 14 Dec 2012, 00:25

Re: Dummy constraint problem in a dynamic model

Post by coppelia »

Hello,

turn on visualization of contact points and you'll see plenty of collisions: that is the reason for the instability. Very carefully adjust the local respondable of your various respondable bodies.

Cheers
Post Reply