Detent Mechanism with ChRSDA issue
M. Pereira
Hi everyone,
I’ve been using the ChLinkRSDA method to model the behavior of a detent mechanism in chrono. I added a preload torque so the mechanism has an initial resisting torque even before any external force is applied.
However, after introducing the preload torque, the simulation became severely unstable. The moving part tends to separate or “break loose” from the pivot/frame connection during the simulation.
Has anyone experienced similar instability issues when using RSDA? If so, how did you handle it?
Also, I’d be interested to hear if anyone has modeled a detent mechanism using a different approach in Chrono that worked more reliably. I've been needing to reduce the timestep too much (to the power of -6) to make it a little more stable.
Thanks in advance for any suggestions.
Dan Negrut
Hi Mariah – I think that you’d stand a better chance of getting help if you post the simplest Chrono model that still shows your problem.
Otherwise, folks might have only very high-level advice, if any.
Dan
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Bernard A. and Frances M. Weideman Professor
NVIDIA CUDA Fellow
Department of Mechanical & Aerospace Engineering
Department of Computer Science
University of Wisconsin - Madison
4150ME, 1513 University Avenue
Madison, WI 53706-1572
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Radu Serban
As Dan suggested, the best way to get help on such issues is to provide a simple reproducible example.
Having said that, there are examples in Chrono where a preload is used on an RSDA. See for example the custom functors defined for tracked vehicle models (M113 suspension and Marder suspension).
We also provide various pre-defined TSDA and RSDA functor classes, some of which allow for inclusion of a preload, in ChForceFunctors.h.
In any case, pay attention to the sign of the preload torque and make sure it is consistent with how the RSDA is defined (e.g., order of connected bodies).
--Radu
From: projec...@googlegroups.com <projec...@googlegroups.com>
On Behalf Of M. Pereira
Sent: Monday, May 18, 2026 11:27 AM
To: ProjectChrono <projec...@googlegroups.com>
Subject: [chrono] Detent Mechanism with ChRSDA issue
Hi everyone,
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