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这个想法怎么实现,急求解答

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发表于 2014-8-14 13:50:59 |显示全部楼层
我想让脚掌点TNode随着我定义的运动轨迹来运动,我在AnyFixedRefFrame GlobalRef里面建立了脚掌点Tnode的参考点PRP并定义了轨迹的驱动AnyKinEqInterPolDriver FootDriver = {
    AnyKinLinearGlobFoot = {
      AnyRefFrame&Glob = Main.MyPedal.EnvironmentModel.GlobalRef.PRP;
      AnyRefFrame&Foot = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.AnkleJoint.TNode;
    };
    MeasureOrganizer= {0,1};   
    Reaction.Type= {Off,Off};
      Type = PiecewiseLinear;
      T =      {0,0.2,0.4,0.6,0.8,1.0};
      Data = { {0,0.024,0.048,0.072,0.096,0.12},{0,0.014,0.028,0.052,0.068,0.07}};
     
  };
我在脚掌点处施加了垂直于脚掌的力,定义如下:
AnyFolder Loads={
      AnyForce3DPedalLoad =
      {
        //F = {0,0, 0};
        Flocal = {0, 80, 0};
        AnyRefFrame&PointOfAtack =Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.AnkleJoint.TNode;
      };
但是我进行运动学仿真时出错,我知道可能是驱动的设置不对,但我知道如何修改,您能不能帮我看看模型代码,十分谢谢。

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发表于 2014-8-14 15:23:34 |显示全部楼层
你好,我加载了一下模型,发现提示约束不够;
我修改了FootDriver,加上了z方向的约束,之后可以运动:
   AnyKinEqInterPolDriver FootDriver = {
    AnyKinLinear GlobFoot = {
      AnyRefFrame &Glob = Main.MyPedal.EnvironmentModel.GlobalRef.PRP;
      AnyRefFrame &Foot = Main.HumanModel.BodyModel.Right.Leg.Seg.Foot.AnkleJoint.TNode;
    };
//    MeasureOrganizer = {0,1};   
//    DriverPos = {-0.157291, -0.18612762};//-0.03612762};
//    DriverVel = {0.078,0};
    Reaction.Type = {Off,Off,Off};
      Type = PiecewiseLinear;
      T =      {0,0.2,0.4,0.6,0.8,1.0};
      Data = { {0,0.024,0.048,0.072,0.096,0.12},{0,0.014,0.028,0.052,0.068,0.07},{0,0,0,0,0,0}};
      //{ {0,0.024,0.048,0.072,0.096,0.12},{0,0.014,0.028,0.052,0.068,0.07}};//,{0,0,0,0,0,0} };
  };
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