For the option: | Do the following: |
|---|---|
Name | Enter the name of the coupler to modify. |
Two Joint Coupler/ Three Joint Coupler | Select whether you want a two- or three-joint coupler. |
By Scales/By Displacement/User Defined | Select the relationship between the joints (either linear or nonlinear). |
Driver and Coupler | Change the joints to be coupled, and then set Freedom Type to their type. If you have any cylindrical joints, you can specify either translational or rotational displacement. Translational joints always have translational displacements. Revolute joints always have rotational displacements. |
Scale | If the coupler is linear, enter a scale for the second and third coupled joints. The scales are r2 and r3 in the following equation: delta1 + r2 * delta2 + r3 * delta3 =0 If the joint displacement is rotational, its corresponding delta in the equation above is in radians. |
If you selected User Defined, the following options appear: | |
User-Written Subroutine Parameters | If the coupler is nonlinear, specify the user parameters to be passed to the User-written subroutine COUSUB, COUXX, COUXX2. For more on user-written subroutines, see the Adams Solver online help. |
Routine | Specify an alternative library and name for the user subroutine COUSUB, COUXX, COUXX2. |