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글 편집
글 편집 (이전 에디터)
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OnOff Joint is a joint that operates when certain conditions are met.
This allows you to define joints that operate only under certain conditions.
One of the most useful examples could be a joint that replaces ‘Contact’.
When you are modeling a robot that moves objects and interested only in mass changes rather than contact characteristics, you can use it as a 'Fixed Joint' that works only under certain conditions.
For example, OnOff Joint is used instead of ‘Contact’ when a robot is moving objects as shown in the video below.
You can download the attached example model file by clicking the link below.
Download OnOffJoint_V9R1 (example model)
1. 0~1 sec: MovingBody moves to the right.
2. 1~2 sec: GripperBody moves downwards.
3. 2~3 sec: GripperBody stops on top of TargetBody.
4. 3~4 sec: GripperBody picks up TargetBody (It operates when OnOff Joint is ‘time>3’ in the Expression as shown in the following dialog).
5. 4~5 sec: GripperBody with TargetBody moves to the right.
- When the expression defined by Expression is true (not 0), the constraint is applied.
- If the result of the expression is 0, the constraint does not apply.
When all six degrees of freedom are constrained, the joint operates like a fixed joint so that the same effect as picking up objects can be confirmed.
You can easily create complex expressions using the following Excel file.
