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I am following a course on designing a TR3 Manipulator in SolidWorks , exporting an XML file via Solidworks which can be imported via MATLAB into Simscape Multibody and then trying to create a control system for it. Unfortunately,Simscape has changed over the years and the joint actuator block in Simscape is no longer present.

At this point please look at the 2 pictures(1st one - course , 2nd one - my implementation)

The Course's Implementation

My own Implementation

I have tried to connect the multiplexer directly to the revolute joint.Unfortunately, I get the following error

Error in port widths or dimensions. Output port 1 of 'TR3RobotExport/Mux' is a one dimensional vector with 3 elements. Component:Simulink | Category:Model error Error in port widths or dimensions. Input port 1 of 'TR3RobotExport/Simulink-PS Converter' is a one dimensional vector with 1 elements.

Kaustav Ghosh
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1 Answers1

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The screenshot of the course image is not readable.

As for the revolute joint, the input for the revolute joint torque should be scalar. The revolute joint has only one axis of rotation, so a vector would make no sense.

It may be that the provided example used prescribed motion actuator since these need to be bundled into one signal:

enter image description here

Nathan
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