Simscape MultiBody_6-DOF Joint_Restrict All Prismatic Primitive

Hello Everyone,

I'm buidling a simscape model and I'm using 6-DOF Joint. I want to restrict all prismatic primitive XYZ (Translation Motion). I don't want to have any translation motion. How I can do that and make sure that XYZ prismatic primitive are all always equal ZERO.

Someone may ask me to just use "Gimbal Joint" instead of "6-DOF Joint" BUT I'm using 6-DOF Join to avoid the gimabl lock probelm when I simulate the systems.

Any thoughts on this probelm that I have??

Thnaks

Answer 1

[Nathan Hardenberg]

You should use a "Spherical Joint". It has no gimbal lock and is only able to rotate.

(If you, for some reason, still want to use a "6-DOF Joint" you can provide very small limits in the X, Y and Z Prismatic Primitive. And/Or you can set the state target for each primitive as 0 and set a very strong spring stiffness. Both methods using the 6-DOF Joint do not garantee the position to be exactly zero, so it is better and easier to just use the Spherical Joint)