How do I limit the rotation of a revolute joint in Simscape Multibody? Setting the internal limits is not working

I have several links attached to eachother by revolute joints. I apply a ramp input at the joint attached to the world frame, but I want to stop the joint when it gets to an angle 220 degrees from where it started. I specify the upper and lower limits in the revolute joint block, but when I run it, the joint is still moving past the upper limit. How do I get this to work? Or is it possible to use the rotational hard stop block? This block is green so it seems to be a part of Simscape driveline so I don't know how I would attach it to my physical multibody model. Thanks!

Answer 1

[Divya Yerraguntla]

Hi,

I found an answer to a similar question.

Please refer this link : https://www.mathworks.com/matlabcentral/answers/93151-is-it-possible-to-use-the-rotational-hard-stop-block-from-simscape-in-my-simmechanics-model

[Milando]

Hi,

the solution proposed in your link is already integratet in Simulink as the limit-inputs for the joints.

Even with the Simmechanic Interface, the joint will ignor the limits (by given motion).

Are there any other solutions for this problem?