Learning Forum

[Amirmkr]

look at the 2 link manipulator code I have written, here I restricted the problem to xy plane by defining zero displacements in uz,roty,rotx.
/PREP7
ET,1,BEAM188
ET,2,MPC184
KEYOPT,2,1,6
KEYOPT,2,4,1

MPTEMP,1,0
MPDATA,EX,1,,2.068e11
MPDATA,PRXY,1,,0.3
MPDATA,DENS,1,,7830

SECTYPE,1,BEAM,RECT,Beam01,0
SECDATA,0.01,0.01,2,2,0,0,0,0,0,0,0,0

LOCAL,11,0,1,0,0,0,0,0,1,1,
SECTYPE,2,JOINT,REVO,Joint1
SECJOINT,,11

CSYS,0

N,2,0,0
N,3,0.5,0
N,4,1,0
N,5,1,0
N,6,1.5,0
N,7,2,0

TYPE,1
SECNUM,1
E,2,3
E,3,4
E,5,6
E,6,7

TYPE,2
SECNUM,2
E,4,5

nsel,s,node,,2,3
nsel,a,node,,6,7
d,all,,0,,,,uz,rotx,roty

d,2,,0,,,,ux,uy

ANTYPE,2
MODOPT,LANB,10
EQSLV,SPAR
MXPAND,10, , ,0
LUMPM,0
PSTRES,0
MODOPT,LANB,10,0,0, ,OFF
FINISH

/SOL
/STATUS,SOLU
SOLVE

/POST1
SET,LIST

All the nodes are in the xy plane except 4&5 that are in the mpc184, although, the mpc is a revolute joint rotating around z.