SimMechanics remotely driven link

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Marcello
Marcello on 22 Jul 2014
Hello, I'm struggling with the model of a remotely driven link for a robotic leg in SimMechanics 2G. Basically I have a three link kinematic chain, but the last joint is remotely actuated, meaning that its angle is not depending on the previous link's rotation, since it's connected to the motor via a steel cable wrapped around a pulley.
I can't figure out how to rotate the last link's frame regardless of the second link's angle. I tried to implement a revolute joint whose base port depends on the leg's base reference frame (fixed on the robot body) and whose follower port is attached to the last joint, with no success because I lose the geometrical relations between links (i.e. the third link collapses to the leg's body frame). Is there a way to solve this? Hope I've been clear, otherwise I'll try to reformulate.
Thanks in advance for any helpful tips.
Marcello

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