Why am I getting an error when trying to set the revoluta blocks?

I have imported this model to matlab to configure its movement and perform a PID analysis.

I have configured all constraints, including gear type. In the Simscape configuration I have selected what is indicated in this link https://la.mathworks.com/help/physmod/smlink/ug/user-added-coordinate-systems.html

When trying to include the revoluta type constraint in the rigid type constraint I get an error. Also, before including the new revoluta block, the model runs but I can't see the movement of gear 1 even though I have already configured it. I'm trying to make turning gear 1 turn gear 2 and it turns gear 6.

I have also tried to import the model without the gear restrictions. In that case I can see the movement of gear 1 but when adding the other blocks of revoluta I get an error.

Please if someone can help me I would really appreciate it. Include a link where the simscape files are located as they are over 5MB.

https://utneduec-my.sharepoint.com/:f:/g/personal/aptobarr_utn_edu_ec/EjaikujBw4hDitO8CgWSKsIBFLSLsqeDUppfQsuoH6IhXg?e=hfNfd1

Answer 1

[Steve Miller]

I looked at your model - very impressive!

Your gears are rigidly connected to each other, which is preventing them from spinning. The connection I have highlighted is what is connecting them.

This connection must be deleted, and you need to use a Common Gear Constraint to constrain their motion. You will need to add this to your model.

There are several examples that ship with Simscape Multibody, and you will find many more examples in the Simscape Multibody Parts Library on the File Exchange.

https://www.mathworks.com/matlabcentral/fileexchange/36536-simscape-multibody-parts-library

I recommend you explore the Common Gear Constraint block on a simple example first.

--Steve