Vishniu Gopalakrishnan wrote:
Hello werner
I would be very grateful if you could tell me how exactly do I implement the function check on TT?. I thought about it today but dont know how to implement it. I will check if I can find additional constraints so that i dont have to do the function check on TT
I tried a different approach in the attached sheet. It is not assumed here that the max torque will appear at 60° but is correctly calculated using a solve block. This significantly increases calculation time in the final solve block.
I also tried to implement the aforementioned quick hack to avoid invalid solutions but I still guess that checking the math of the geometry and incuding meaningful constraints would be the better approach.
Unfortunately the end result of my efforts is a bit unsatisfactory as we still get invalid result in some cases and the solve block is quite sensible wrt the guess values.
Nevertheless I think the results should be useable.
You may play around with the constraint 2<a<5 and of course with the guess values.
I had assumed that the values are valid if I get a solution for theta2 and theta3 for theta4=0 and theta4=90°. I once came up with a combination of arm lengths which will be fail only for theta4 in approx. 7° to 20°. This case would not be cought by my routine and I can't remember what the values for a,b and c were.
Regrettably I am lacking the time to further investigate but maybe you or someone else here can come up with something a bit more stable and less sensible.
Good luck!
