Hi Jakob, You may want to provide the obj files for visualization and collision. Having said that, a ChMateGeneric you defined is not kinematically equivalent to a universal joint. Why not simply use a ChLinkUniversal?
--Radu From: [email protected] <[email protected]> On Behalf Of Jakob Pflugbeil Sent: Tuesday, September 23, 2025 4:49 PM To: ProjectChrono <[email protected]> Subject: [chrono] Problem with the constraint when it is spring loaded joint I am currently trying to simulate a climbing robot, for this I need to set up the arms which are built from actuated joints (with motors) and passive actuated joints (spring loaded). When using 4 TSDA-Links (spring coef is 5000) and a universal joint built by defining a generic joint( allowing two rotational dofs), there is an unexpected movement (in the simulation there are translational movements visible). I want to attach moveable grippers to the end effector and the main body be movable as well. The TSDA needs to be stiff. I am using Solver BB and for the Time stepper EULER_IMPLICIT_LINEARIZED. How can avoid this jumping motion, is there an solver time stepper setup for most accurate results. Best regards from LUT Jakob -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]<mailto:[email protected]>. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/04aa6e91-a625-475d-aeca-106d288dd019n%40googlegroups.com<https://urldefense.com/v3/__https:/groups.google.com/d/msgid/projectchrono/04aa6e91-a625-475d-aeca-106d288dd019n*40googlegroups.com?utm_medium=email&utm_source=footer__;JQ!!Mak6IKo!I7pEc2OZH0Gwsasb5j7BXg1mByuRJwJWhNo0grI0Rcu9O3n9y2HWRgPszqc5HeMiiL0uQrcL0Kc2COoz0MSTjgRm$>. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion visit https://groups.google.com/d/msgid/projectchrono/CH3PPF46CDC2185F3AC21C90DAA149C9C79A7EBA%40CH3PPF46CDC2185.namprd06.prod.outlook.com.
