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Universal Joint in Delta Robot moves only one DOF, second DOF doesnt work

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Hello, i build a Delta Robot on Matlab Multibody and used universal joints for connecting the second arm from the upper arm to the end effector.
--> UpperArm- UniJoint-ARM- UniJoint-EndEffector
Now the Movement is not correct, its just going up and down but wont go sideways. Has anyone done thies jet or can help me with the universal joints?

Answers (1)

David Ding
David Ding on 18 Oct 2017
Hi Trutz,
I understand that you have a joint that seems to be missing DOF. My suggestion is to check the actuation of the joint in the Universal Joint block to make sure that each DOF has a torque input.

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