Robot not moving forward while the wheel rotates in MSC Adams

[Cap0111]

I have a simple test problem (my first simulation with MSC Adams).
There are 4 solid parts including:
1) 2 wheels (RigidBody: Cylinder)
2) 1 link (RigidBody: Link)
3) 1 terrain (RigidBody: Box)

Three Joints:
1) 1 Revolute joint between the first wheel and the link
2) 1 Revolute joint between the second wheel and the link
3) 1 Fix joint between the ground and the box

Two Contacts using Impact normal force option and Coulomb friction force option:
1) 1 contact between the first wheel and the box
2) 1 contact between the second wheel and the box

One Joint motion:
1) Rotational (Default Function (time) : 30.0d * time) on the first joint between the first wheel ant the link.

The problem is that the first wheel rotates but the robot does not translate. What could be the source of that type problem?

 

[GregLocock]

I think your normal force is unlikely to drive the robot forward.

Cheers

Greg Locock


New here? Try reading these, they might help FAQ731-376

http://eng-tips.com/market.cfm?

 

[Cap0111]

Thanks Greg Locock. I gave up with that first model and I continued with a more complex model with 3 wheels and 2 links (CRAB Robot). Everything works fine.
I think that I might remove the gravity with the first model simulation.

Kab.