November 11, 2021 at 4:20 am

Amirmkr

Subscriber

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

/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.**