3-Rps Parallel Robot

   I do a 3-RPS parallel robot model using Simmechanics,but I don't know how to add constraints on joints.<<<For example,the revolute joint rotate from 0 degree to 45 degrees,and the prismatic joint move from 15cm to 20cm.>>> 
   When added constraints the revolute joint can only rotate from 0 degree to 45 degrees,or the prismatic joint can only  move from 15cm to 20cm,no matter what the torque or force is.But in the Simmechanics I can't find a block to achieve this function.Should I need a script to link with the model.

[iqram roslan]

hello..can u please e-mail to me your simmechanic diagram. i was doing my project same like u. my email is [e-mail]

Answer 1

[Sebastian Castro]

As long as you're using R2013b or later: http://blogs.mathworks.com/seth/2013/11/13/motion-actuation-in-simmechanics-r2013b/

- Sebastian

[li jiaxing]

Sorry,it's not what I want.What I want is when added constraints<<<For example,the revolute joint rotate from 0 degree to 45 degrees,and the prismatic joint move from 15cm to 20cm>>>,the revolute joint can only rotate from 0 degree to 45 degrees,or the prismatic joint can only move from 15cm to 20cm,no matter what the torque or force is.Can your help me?

[Sebastian Castro]

I see, I'm sorry!

You can do this by interfacing with Translational/Rotational Hard Stop blocks in Simscape. Look at this link: http://www.mathworks.com/matlabcentral/answers/93151-is-it-possible-to-use-the-rotational-hard-stop-block-from-simscape-in-my-simmechanics-model

- Sebastian

[li jiaxing]

Thank your very much,I read the article,it's really helpful.The reason I want to do that is to solve the workspace of 3-rps parallel robot,but I solve it in another way.And I still have a problem,can you help me?

http://www.mathworks.com/matlabcentral/answers/212884-using-vectorization-to-exchange-for-circulation

[gentleman's boy]

Is this problem solved now?Hello, 3-RPS parallel mechanism workspace MATLAB program code can send me a copy, thank you very much！[e-mail]