How to use kinematic joints / axis

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Tomi Kosunen asked Mar 15, '22 Tomi Kosunen commented Mar 16, '22

How to use kinematic joints / axis

Hi. I have tried to build a kinematic device that has three joints: x, y and z. I can't find out, how can I move one joint at the time from ProcessFlow (or any other way)? I want to keep the kinematic "chain": if x moves, y and z follow. If y moves, only z follow. Pls find example attached. portal1_1.fsm

Software Version:

FlexSim 22.0.0

kinematics

portal1-1.fsm (31.9 KiB)

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Answer 1 · 2022-03-15T14:55:53Z

Lars Jacobsen answered Mar 15, '22

In this case I would use the "old fashioned" triggers on the task executer. I.e. "On Begin Offset", "On-Update Offset" and "On Finish Offset". This will also automatically give you the offset from the TE to item which is to be moved. In addition you can fine tune the exact location using Pick Offset and Place Offset on the objects containing the items you want to move.

https://docs.flexsim.com/en/22.1/Reference/3DObjects/TaskExecuters/BasicTE/BasicTE.html

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Answer 2 · 2022-03-15T14:17:28Z

Jason Lightfoot answered Mar 15, '22 Tomi Kosunen commented Mar 16, '22

Try adding three kinematics - one for each of the Objects you added in the animaiton editor and are found in the drawsurrogate tree:

1647353815761.png (13.8 KiB)

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Tomi Kosunen commented · Mar 16, 2022 at 06:52 AM

What is wrong with my initkinematics? It does nothing.

Object myLift = model.find("myCrane"); // Base object

treenode x_axis = myLift.find(">visual/drawsurrogate/Object0"); // Object to execute the kinematics

myLift.labels.assert("kinematics_x"); // Create label for empty datanode

initkinematics(myLift.kinematics_x, x_axis , 0, 0);

updatekinematics(myLift.kinematics_x, x_axis );

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