## [MapleSim7] Setting the direction of "prismatic jo...

I want to make the model which moves along the specific direction (translational), So I used the "prismatic joint" to give the direction that I want to enforce. However, "Prismatic joint" only offers the direction along the "X", "Y", and "Z" axes though I want to give other direction.

Is there any way to give the specific direction (vector) to make my model move in that way ?

## maplesim problem on digital library...

hello

i have some problem when iuse the digital libray with the delay components:

i have this error: delay variable not found in dependent variable list, [`Main.TransportDelay1.x`(T)]

it seems that the delay function in the modelica language is not well treated in MapleSim . At this level:

equation
y = if 0 < delayTime then if delayTime <= time then x_delayed else y0 else pre(x);
x_delayed = integer(delay(x, delayTime));
end Modelica.Electrical.Digital.Delay.TransportDelay;

` `

Maplesim 7.0(1) installer looks for Maple 18 installation.  Will Maplesim work with Maple 2015?

If not, what is the expected date of making both products compatible?

Regards,

G

## Difficulty of plotting a angle with absolute coord...

Hello,

I have modeled a slidercrank with absolute coordinates.

I have a slight problem when I want to mesure the Euler angles with Euler angle sensors.

In fact, the angle of the crank around the z axis (gamma1) always stay betwen -pi and pi. I would have like to see the value of my angle always increases with the evolution of the time since I impose a constant torque on the crank.

How can I do to observe the Euler angles of a body (parameterized with absolute coordinates) without any limit between [-pi,pi]?

PS: I insert my model attached

slidercrank_3D_AC.msim

## Extracting simpler equations...

Hi! I'm having trouble with the MapleSim "Equation Extraction" template. I have an extremely simple dynamics scenario with RigidBody at a particular position in a world; when the simulation starts, the body should simply start fallin with a constant acceleration, and I'm looking to extract kinematic equations for this situation.

However, the problem I have with the extracted equations is that they contain some rotational dependent terms that I wish to avoid - a lot of sines and cosines with arguments that I actually cannot match up to any variables in the model, or when I enable quaternion representation, terms like this:

What I don't understand is what exactly these rotation terms represent. The object should be falling straight downwards, and gravitation should be applied straight downwards, and when I start the simulation it does run through, also indicating that there should be no unbound variables. I'm not sure exactly what parameters in the Modelica model do they correspond to? I did not find any such angles in the object settings. And can I ask MapleSim to generate equations without these unbound rotation variables?

## Cannot Simulate...

Dear any body,

I have tried several models/documents (with diagrams) using maplesim v7 32/64bit, but the simulation can not finish and in  equation generation a message appear as follow "protype must be a sructured record type or a record, but receipt squeezed".Same mesaages also appear if I try all examples exist in maplesim. What a big problem this?

## homokinetic joint definition...

Hi everybody,

is it possible to define an homokinetic joint in MapleSim for multibody modeling? How can I do that?

thanks.

## Hide center gravity and masses in implicit geometr...

Hello,

Is it possible to hide the geometry linked to the center of gravity and masses in the implicit geometry and keep only the kinematic joint.

If yes, may you explain how ? For the moment, I only manage to show/hide all the element of the implicit geometry.

## copy paste a maplesim model in microsoft visio ...

Hello,

I would like to copy/ paste my maplesim model in microsoft visio.

The idea is to create a vectorial illustration for presentation.

Apparently, when I go in visio, there is no possibility to copy like a metafile.

Is there a possibility to copy the object of a Maplesim model in a software like visio or illustrator so as to be able to create vectorial illustration for presentation ?

## Initial value on maplesim component...

Hey guys,

i'd like to create a custom component for maplesim. I opened the template in maple18 and defined the following equations:

eq := [p(t) = p__0+rho*g*h(t), Q(t) = A*(diff(h(t), t)), L(t) = 100*h(t)/h(0)]

These equations describes a tank with a liquid in it. Now I tried to define a function L(t) (above) that gives the level of the tank in percentage. Therefore I need the initial height value at t=0. The function defined above (h(0)) does not work, cause maple tells me that the function does not exist.

Any hint how to get an initial value or a value at t=0? Or maybe another way to solve my problem?

Hopefully I described right. :-)

Best regards

Christian

## Trigonometric calculation with parameters in Maple...

Hi,

I need to build a multibody model in MapleSim 6.4 in which with few global parameters I can describe all the other parameters. In other words the final user will enter this few parameters, that are coordinates of specific points, and then the model will calculate all the relative distances on the base of those coordinates.

The problem is that if I apply trigonometric function and square root (like in the screenshot) the model is not calculating any value. Is it possible to make those calculculations?

this is the model (don't worry about the nonsense plots, it's because it's not ultimated):

DWS.msim

Thanks.

## Save results automatically...

Hi,

I have to run my model with lots of parameter sets and I want to export the result every time as a csv file.

Is therea possibilty to export the result automatically?

Thanks in advance for any help!

## Tuning solver setting for the simulation of CKC mu...

Hello,

I could obtain the simulation of my multibody with kinematic closed chain (CKC).

However, it seems that from a specific time (around 12s) in my model I believe that I have some numerical instabilities. Indeed, I could compare my simulation results with another mulbody software. I obtain the same simulation until 12s and after in MapleSim, it appears many perturbations as you can see on the figures belows.

So, I think that I tune the numerical solver. This numerical solver must solve DAEs equations since my model contains 4 kinematic closed loops.

If i read correctly the help menu, there are the following methods to solve the DAEs :

- use specific DAE numerical solver (3 differents solvers are used : ck45 method, RKF45 method and Rosenbrock method

- use reformulation equations techniques (Baumgarte, Projection) which can be associated (I believe) with a classic solver like (RK4).

For the moment, I have obtained my results with the rosenbrock solver with error absolute : 1.0*10^(-4) and eror relative :error absolute : 1.0*10^(-4)

Do you have some ideas or advices so as to find a better method to solve my multibody systems with kinematic closed loops ? This method should  prevent the creation of numerical instabilities.

Thanks a lot for your help

## MapleSim Force and Torque sensor...

Hi,

I trying to simulate a force sensor on robot arm, but every time I try something, I get nothing from my sensor, can you help me?

Here it's my "design":

Also, if I add a rigid body I get this error:

Thanks!

## Parameters not evaluated and 3D visualization...

Hello,

In my model, it seems that I have parameters which are not evaluated.

Indeed, I'm not sure that the parameters defined with relations as you can see in the printscreen are evaluated.

One point which helps me to debug my model is to follow the evaluation of the construction of my model with the 3D visualization.

Questions :
1) How can I do to be sure that my parameters are evaluated ?

2) Is it possible to launch the update of the 3D visualization even if I still have some bugs in my model ?

Thank you for help.

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