OpenModelica v1.17.0（64 位）
OMSimulator v2.0.0.post284-gc8ec782-mingw
Modelica 标准库 3.2.3
您好，我目前正在 OpenModelica 中实现 Stewart 平台的动态模型，类似于https://www.xarg.org/paper/inverse-kine ... -platform/（6RSS 并行机器人）和显然，由于以下错误，我无法将多条腿连接到同一平台：
[1] 13:08:36 Translation Error
Internal error It is not possible to select continuous time states because Number of Equations 18 greater than number of States 17 to select from.
[2] 13:08:36 Translation Error
Internal error - IndexReduction.dynamicStateSelectionWork failed!
从我在 Modelica 的文档中看到的内容来看，这可能是由于在模型的转换阶段生成的生成树中的某个循环引起的，其中一些非流动方程变得相互依赖，导致过度约束（即使仍然可解） ） 系统。它遵循我创建的包的源代码，其中存在一个基础、一个平台，并且只有两个创建问题的 RSS 分支。
package sixRSS_parallelRobot
model platform
import Modelica.SIunits;
import Modelica.Math;
constant SIunits.Length l = 0.7;
constant StateSelect stateSelect = StateSelect.prefer annotation(
Dialog(tab = "Advanced"));
final constant Real pi = 2 * Modelica.Math.asin(1.0);
parameter Boolean useQuat = false;
Modelica.Mechanics.MultiBody.Parts.Body body(enforceStates = stateSelect == StateSelect.always,m = 1, r_0(each fixed = true, start = {0, 0.5, 0}), r_CM = {0, 0, 0}, useQuaternions = useQuat, v_0(each fixed = true, start = {0, 0, 0}), w_a(each fixed = true)) annotation(
Placement(visible = true, transformation(origin = {70, 2}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation1(r = {l * cos(0 * (pi / 180) + (-5) * (pi / 180)), 0, l * sin(0 * (pi / 180) + (-5) * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {-18, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation2(r = {l * cos(0 * (pi / 180) + 5 * (pi / 180)), 0, l * sin(0 * (pi / 180) + 5 * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {-14, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation3(r = {l * cos(120 * (pi / 180) + (-5) * (pi / 180)), 0, l * sin(120 * (pi / 180) + (-5) * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {-18, 24}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation4(r = {l * cos(120 * (pi / 180) + 5 * (pi / 180)), 0, l * sin(120 * (pi / 180) + 5 * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {-12, 2}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation5(r = {l * cos(240 * (pi / 180) + (-5) * (pi / 180)), 0, l * sin(240 * (pi / 180) + (-5) * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {-14, -24}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
Modelica.Mechanics.MultiBody.Parts.FixedTranslation fixedTranslation6(r = {l * cos(240 * (pi / 180) + 5 * (pi / 180)), 0, l * sin(240 * (pi / 180) + 5 * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {-16, -46}, extent = {{-10, -10}, {10, 10}}, rotation = 180)));
//outer Modelica.Mechanics.MultiBody.World world;
Modelica.Mechanics.MultiBody.Interfaces.Frame_b frame_b[6] annotation(
Placement(visible = true, transformation(origin = {-76, 10}, extent = {{-16, -16}, {16, 16}}, rotation = 0), iconTransformation(origin = {-100, 6}, extent = {{-16, -16}, {16, 16}}, rotation = 0)));
equation
connect(fixedTranslation1.frame_a, body.frame_a) annotation(
Line(points = {{-8, 68}, {30, 68}, {30, 2}, {60, 2}}, color = {95, 95, 95}));
connect(fixedTranslation2.frame_a, body.frame_a) annotation(
Line(points = {{-4, 50}, {30, 50}, {30, 2}, {60, 2}}, color = {95, 95, 95}));
connect(fixedTranslation3.frame_a, body.frame_a) annotation(
Line(points = {{-8, 24}, {30, 24}, {30, 2}, {60, 2}}));
connect(fixedTranslation4.frame_a, body.frame_a) annotation(
Line(points = {{-2, 2}, {60, 2}}));
connect(fixedTranslation5.frame_a, body.frame_a) annotation(
Line(points = {{-4, -24}, {30, -24}, {30, 2}, {60, 2}}, color = {95, 95, 95}));
connect(fixedTranslation6.frame_a, body.frame_a) annotation(
Line(points = {{-6, -46}, {30, -46}, {30, 2}, {60, 2}}, color = {95, 95, 95}));
connect(fixedTranslation2.frame_b, frame_b[2]) annotation(
Line(points = {{-24, 50}, {-56, 50}, {-56, 10}, {-76, 10}}, color = {95, 95, 95}));
connect(fixedTranslation3.frame_b, frame_b[3]) annotation(
Line(points = {{-28, 24}, {-56, 24}, {-56, 10}, {-76, 10}}, color = {95, 95, 95}));
connect(fixedTranslation4.frame_b, frame_b[4]) annotation(
Line(points = {{-22, 2}, {-56, 2}, {-56, 10}, {-76, 10}}, color = {95, 95, 95}));
connect(fixedTranslation5.frame_b, frame_b[5]) annotation(
Line(points = {{-24, -24}, {-56, -24}, {-56, 10}, {-76, 10}}, color = {95, 95, 95}));
connect(fixedTranslation6.frame_b, frame_b[6]) annotation(
Line(points = {{-26, -46}, {-56, -46}, {-56, 10}, {-76, 10}}, color = {95, 95, 95}));
connect(fixedTranslation1.frame_b, frame_b[1]) annotation(
Line(points = {{-28, 68}, {-56, 68}, {-56, 10}, {-76, 10}}, color = {95, 95, 95}));
annotation(
uses(Modelica(version = "3.2.3")));
end platform;
model base
import Modelica.SIunits;
import Modelica.Math;
constant SIunits.Length l = 0.7;
constant StateSelect stateSelect = StateSelect.prefer annotation(
Dialog(tab = "Advanced"));
final constant Real pi = 2 * Modelica.Math.asin(1.0);
parameter Boolean useQuat = false;
Modelica.Mechanics.MultiBody.Parts.Fixed fixed annotation(
Placement(visible = true, transformation(origin = {-16, 12}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.Fixed fixed1(r = {l * cos(0 * (pi / 180) + (-5) * (pi / 180)), 0, l * sin(0 * (pi / 180) + (-5) * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {54, -2}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.Fixed fixed2(r = {l * cos(0 * (pi / 180) + 5 * (pi / 180)), 0, l * sin(0 * (pi / 180) + 5 * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {52, 30}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.Fixed fixed3(r = {l * cos(120 * (pi / 180) + (-5) * (pi / 180)), 0, l * sin(120 * (pi / 180) + (-5) * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {-46, 76}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.Fixed fixed4(r = {l * cos(120 * (pi / 180) + 5 * (pi / 180)), 0, l * sin(120 * (pi / 180) + 5 * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {-74, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.Fixed fixed5(r = {l * cos(240 * (pi / 180) + (-5) * (pi / 180)), 0, l * sin(240 * (pi / 180) + (-5) * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {-68, -26}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.Fixed fixed6(r = {l * cos(240 * (pi / 180) + 5 * (pi / 180)), 0, l * sin(240 * (pi / 180) + 5 * (pi / 180))}) annotation(
Placement(visible = true, transformation(origin = {-44, -68}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.Body body(enforceStates = stateSelect == StateSelect.always,m = 5, r_CM = {0, 0, 0}, useQuaternions = useQuat) annotation(
Placement(visible = true, transformation(origin = {12, 12}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
outer Modelica.Mechanics.MultiBody.World world;
Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a[6] annotation(
Placement(visible = true, transformation(origin = {104, 16}, extent = {{-16, -16}, {16, 16}}, rotation = 0), iconTransformation(origin = {108, 0}, extent = {{-16, -16}, {16, 16}}, rotation = 0)));
equation
connect(fixed.frame_b, body.frame_a) annotation(
Line(points = {{-6, 12}, {2, 12}}, color = {95, 95, 95}));
connect(fixed1.frame_b, frame_a[1]) annotation(
Line(points = {{64, -2}, {86, -2}, {86, 16}, {104, 16}}));
connect(fixed2.frame_b, frame_a[2]) annotation(
Line(points = {{62, 30}, {86, 30}, {86, 16}, {104, 16}}, color = {95, 95, 95}));
connect(fixed3.frame_b, frame_a[3]) annotation(
Line(points = {{-36, 76}, {86, 76}, {86, 16}, {104, 16}}));
connect(fixed4.frame_b, frame_a[4]) annotation(
Line(points = {{-64, 50}, {86, 50}, {86, 16}, {104, 16}}));
connect(fixed5.frame_b, frame_a[5]) annotation(
Line(points = {{-58, -26}, {86, -26}, {86, 16}, {104, 16}}));
connect(fixed6.frame_b, frame_a[6]) annotation(
Line(points = {{-34, -68}, {86, -68}, {86, 16}, {104, 16}}));
annotation(
uses(Modelica(version = "3.2.3")));
end base;
model fullmodel
inner Modelica.Mechanics.MultiBody.World world annotation(
Placement(visible = true, transformation(origin = {-68, 14}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
sixRSS_parallelRobot.platform platform(useQuat = true) annotation(
Placement(visible = true, transformation(origin = {106, 12}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
sixRSS_parallelRobot.base base(useQuat = true) annotation(
Placement(visible = true, transformation(origin = {-26, 14}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Joints.Revolute revolute(n = {1, 0, 0}, phi(displayUnit = "rad")) annotation(
Placement(visible = true, transformation(origin = {-1, 29}, extent = {{-7, -7}, {7, 7}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.BodyShape bodyShape(m = 0.01, r = {0, 0, -0.2}, r_CM = {0, 0, -0.1}) annotation(
Placement(visible = true, transformation(origin = {19, 29}, extent = {{-7, -7}, {7, 7}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Joints.Spherical spherical annotation(
Placement(visible = true, transformation(origin = {35, 29}, extent = {{-7, -7}, {7, 7}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.BodyShape bodyShape1(m = 0.002, r = {0, 0.5, 0.2}, r_CM = {0, 0.25, 0.1}) annotation(
Placement(visible = true, transformation(origin = {51, 29}, extent = {{-7, -7}, {7, 7}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Joints.Spherical spherical1 annotation(
Placement(visible = true, transformation(origin = {71, 29}, extent = {{-7, -7}, {7, 7}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Joints.Revolute revolute1(n = {1, 0, 0}, phi(displayUnit = "rad")) annotation(
Placement(visible = true, transformation(origin = {1, -1}, extent = {{-7, -7}, {7, 7}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.BodyShape bodyShape2(m = 0.01, r = {0, 0, 0.2}, r_CM = {0, 0, 0.1}) annotation(
Placement(visible = true, transformation(origin = {21, -1}, extent = {{-7, -7}, {7, 7}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Joints.Spherical spherical2 annotation(
Placement(visible = true, transformation(origin = {37, -1}, extent = {{-7, -7}, {7, 7}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Parts.BodyShape bodyShape3(m = 0.002, r = {0, 0.5, -0.2}, r_CM = {0, 0.25, -0.1}) annotation(
Placement(visible = true, transformation(origin = {53, -1}, extent = {{-7, -7}, {7, 7}}, rotation = 0)));
Modelica.Mechanics.MultiBody.Joints.Spherical spherical3 annotation(
Placement(visible = true, transformation(origin = {73, -1}, extent = {{-7, -7}, {7, 7}}, rotation = 0)));
equation
connect(revolute.frame_b, bodyShape.frame_a) annotation(
Line(points = {{6, 29}, {12, 29}}));
connect(bodyShape.frame_b, spherical.frame_a) annotation(
Line(points = {{26, 29}, {28, 29}}, color = {95, 95, 95}));
connect(spherical.frame_b, bodyShape1.frame_a) annotation(
Line(points = {{42, 29}, {44, 29}}, color = {95, 95, 95}));
connect(bodyShape1.frame_b, spherical1.frame_a) annotation(
Line(points = {{58, 30}, {64, 30}}));
connect(revolute.frame_a, base.frame_a[1]) annotation(
Line(points = {{-8, 30}, {-10, 30}, {-10, 14}, {-16, 14}}));
connect(spherical1.frame_b, platform.frame_b[1]) annotation(
Line(points = {{78, 30}, {88, 30}, {88, 12}, {96, 12}}, color = {95, 95, 95}));
connect(base.frame_a[2], revolute1.frame_a) annotation(
Line(points = {{-16, 14}, {-10, 14}, {-10, 0}, {-6, 0}}, color = {95, 95, 95}));
connect(revolute1.frame_b, bodyShape2.frame_a) annotation(
Line(points = {{8, 0}, {14, 0}}, color = {95, 95, 95}));
connect(bodyShape2.frame_b, spherical2.frame_a) annotation(
Line(points = {{28, 0}, {30, 0}}, color = {95, 95, 95}));
connect(spherical2.frame_b, bodyShape3.frame_a) annotation(
Line(points = {{44, 0}, {46, 0}}, color = {95, 95, 95}));
connect(bodyShape3.frame_b, spherical3.frame_a) annotation(
Line(points = {{60, 0}, {66, 0}}));
connect(spherical3.frame_b, platform.frame_b[2]) annotation(
Line(points = {{80, 0}, {88, 0}, {88, 12}, {96, 12}}));
end fullmodel;
annotation(
uses(Modelica(version = "3.2.3")));
end sixRSS_parallelRobot;
由于我是 Modelica 的新手，我认为我缺少一些建模多体力学的基本概念，尤其是在发生运动学循环时。我已经在 Modelica 库中对平面循环四杆示例进行了一些测试，但我认为这是不同的。有没有办法解决这个错误，最终得到6RSS并联机器人的工作模型？
预先感谢您的帮助！
