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Simscape Multibody modelling support

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Jacopo Paris
Jacopo Paris on 1 Apr 2020
Answered: Steve Miller on 5 Jun 2021
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?

Answers (1)

Steve Miller
Steve Miller on 5 Jun 2021
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.

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