adams仿真构件横向飞出

coolanimal

仿真求解时，构件横向飞出，在verify model里有如下提示：
67 Gruebler Count (approximate degrees of freedom)
  68 Moving Parts (not including ground)
  68 Revolute Joints
   1 Motions
  70 Degrees of Freedom for .zhichi1
There are 3 redundant constraint equations.
   This constraint:                      unnecessarily removes this DOF:
   .zhichi1.JOINT_4   (Revolute Joint)   Rotation Between Zi & Xj
   .zhichi1.JOINT_39  (Revolute Joint)   Rotation Between Zi & Yj
   .zhichi1.JOINT_45  (Revolute Joint)   Rotation Between Zi & Xj
所有旋转副转轴都平行于Z轴，且构件也是沿Z轴飞出，我的重力方向也是正确的，为－Y向。
Rotation Between Zi & Xj是什么意思，如何去除这三个过约束？
谢谢大家！

coolanimal

构件间的碰撞我选的是solid to solid,材料为钢，碰撞系统等，都是默认的。

coolanimal

住址模型如下图：

所有链节间加的是旋转辐，链轮和地面问加的也是旋转辐。

求解错误提示：
ERROR:   At time  1.758085069E+00 the integrator is unable to start/restart.  Possible Causes:
(1) The accuracy required for the numerical solution can not be attained.
Relax (increase) the value of the acceptable integration ERROR.
(2) Incompatible redundant constraints, a lock up, or a bifurcation situation.  The latter two indicate a mechanism design problem.
(3) The system includes a zero (or relatively small) mass on a part with an unconstrained translational degree of freedom.
Make sure you have mass on all parts with translational degrees of freedom.
(4) The system includes a zero (or relatively small) inertia on a part with an unconstrained rotational degree of freedom.Make sure you have inertias on all parts with rotational degrees of freedom.
(5) An Adams element has a function expression that equals exactly itself.
For example,
     SFORCE/id1,I=id2,J=id3,ROT,FUNC=SFORCE(id1,jflag,comp,rm),and
     DIFF/id4,IMPLICIT,IC=0,FUNC=DIF1(id4).
Similarly,
     VARIABLE/id5, FUNC=VARVAL(id5)*TIME
equals itself at 1 second. Avoid setting an Adams element equal to itself.

ERROR:   Simulation failure detected.
ERROR:   Simulation failure detected.
我检查了，质量和惯量都是对的，没检查出哪个质量有问题

coolanimal

在 adams里如何查每个构件的自由度，如我想知道part2被约束了几个自由度，分别是哪个自由度？

coolanimal

求高人指点啊！

少少凌

不懂。。。

蓝蜻蜓4303

70 Degrees of Freedom for .zhichi1
这个应该表示你的模型自由度是70，正常加上motion后的自由度是0.
这样能进行运动学仿真了，就是能动起来。

There are 3 redundant constraint equations.
存在过约束也能进行仿真，所以问题的主要部分还是自由度哪那里

czsgnkc

好东东，谢谢楼主











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