Modeling a manipulator with elastic joint in Simscape Multibody

I need to model in Simscape a single-link manipulator with an elastic joint (like in the figure).

I tried modeling this way but I am not sure it's the smartest way. I used the block 'Ideal Torque Source' to simulate the motor torque.

Any suggestion?

Answer 1

[Steve Miller]

Hi Salvatore,

Your system needs two degrees of freedom:

1. Base to motor shaft
2. Rotational deflection of motor shaft

You need two separate Revolute Joints to model this system.

Attached is a model where I have put the two degrees of freedom within the "Base" block so that it could reuse the parmeterization from the mask. The torque input is applied directly to the revolute joint (no extra Simscape blocks are needed).

--Steve

[Maxime Marchal]

Dear @Steve Miller,

Thank you for this proposition. Do you have an idea how to deal in the case of two elastic joints. I mean, the first motor is fixed to the base, and connected to the first link via a spring (as it is the case here). But in addition, there is another motor which is fixed to the first link, and connected to the second link via another spring.

Thank you in advance for your help.

Best regards,

Maxime Marchal