Rotation constraint

[Simone]

Hello,

I need to model the following situation, but I am not sure if this is possible with the built-in classes. Let's suppose we have two rigid bodies "A" and "B". "A" can move freely along the world x-axis via a prismatic joint, let's call this displacement "x". I want to constrain the rotation of B to be a function of this displacement, which requires 3 constraint equations of the form "c(x)=0". If this would depend on time, then the motion could be imposed, but that's not the case, since body "A" can move freely along the x-axis.

Is there a way to achieve this? Of course, a controller could be implemented, but I need to preserve the energy here, so I think it is only possible via analytical constraints.

Thanks a lot in advance.

Simone

[Radu Serban]

Hi Simone,

 

Looks like you would have to implement your own “joint”, derived from ChLink.  This is a bit more low-level Chrono coding than what we suggest users to do, but I don’t think there’s other way around it.  Also, I feel that this is such a special case that it does not warrant implementing in the core Chrono code.  You may want to look at the implementation of something like ChLinkRevolute to see how that entails.

 

--Radu

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