Dear contributors:
we try to use the toolbox to model our prototype which looks like this:
We utilize Soft Link. However, the GUI only supports to set the start and end value of a circular cross-sectional section. Thus we try to build every soft link as the combination of a cone + cylinder + another cone, and used fixed joint type for the cylinder and the latter cone. The joint between each link is set to Revolute joint with y and z bending allowable. (if the backbone axis is set as x). The Sorosim model looks like:
When tightening the cable, in reality, the joints (small cylinders between each link) would deform, while the links remain almost undeformable, until the links collide with each other. To achieve this, we set n_l = 2 in our model to reduce the deformable point [if my understanding is correct]. However, although we set large Young's Modulus to prevent the link from deforming, we still get result like this when actuating force increase and/or Young's modulus decreases: the simulated structure tends to experience self-intersection or mesh penetration artifacts.
May you kindly indicate how to prevent the links from penetration with each other, maybe by setting rotation limitations? Or shall we use rigid links instead? But as far as I know the rigid links do not support a cable-driven mechanisms. Or maybe do you suggest us to build another cylinder to represent the small joints connections?
We're highly appreciate any suggestions to improve our current modeling!
Dear contributors:
we try to use the toolbox to model our prototype which looks like this:
We utilize Soft Link. However, the GUI only supports to set the start and end value of a circular cross-sectional section. Thus we try to build every soft link as the combination of a cone + cylinder + another cone, and used fixed joint type for the cylinder and the latter cone. The joint between each link is set to Revolute joint with y and z bending allowable. (if the backbone axis is set as x). The Sorosim model looks like:
When tightening the cable, in reality, the joints (small cylinders between each link) would deform, while the links remain almost undeformable, until the links collide with each other. To achieve this, we set n_l = 2 in our model to reduce the deformable point [if my understanding is correct]. However, although we set large Young's Modulus to prevent the link from deforming, we still get result like this when actuating force increase and/or Young's modulus decreases: the simulated structure tends to experience self-intersection or mesh penetration artifacts.
May you kindly indicate how to prevent the links from penetration with each other, maybe by setting rotation limitations? Or shall we use rigid links instead? But as far as I know the rigid links do not support a cable-driven mechanisms. Or maybe do you suggest us to build another cylinder to represent the small joints connections?
We're highly appreciate any suggestions to improve our current modeling!