Simscape Multibody modelling support

I'm building a model of a kickscooter with degrees of freedom corresponding to translation along x axis, y axis and yaw angle. Until now I succeded in simulating a linear trajectory providing the desired velocity profile on the two wheels, but the next step is allowing the front wheel to steer (thus obtaining more complex trajectories).

I got stuck on how to put the Revolute Joint for the yaw angle. Can you give me some hints on where to insert it and between which frames?

Answer 1

[Steve Miller]

Your model looks terrific in the screenshots!

From what I can see, you would want to put a Revolute Joint between solid "Deck" and rigid transform "Front Wheel to Deck". I suspect you would need

(Rigid Transform -- Revolute Joint -- Rigid Transform)

so that the degree of freedom for steering is normal to the deck of the scooter.

If you post the model, we can take a closer look.

--Steve