Hi,

I am trying to convert from MapleSim to Simulink Matlab by using the S-function code Generation connector, but I got the above message when I uploaded the selected subsystem and I have no idea how can I fix it. Please help me

To observe the nip impact of the Variable Nip Roller, we created the following schematic and simulation. I set the y-coordinate of the Web to be the same, so I don't think there is a big problem for the Variable Nip Roller to simulate the nip. However, the simulation does not simulate with the warning "Nip is not on the contact arc". What is the reason for this and how can I set the nip arc again?

This is a Tension Zone, an example of web handling.

The example probe on Roller1 shows various probe items, such as summary_WrapAngle and summary_Slipvelocity, but the ex_probe I attached to the same roller shows only four probe items: angle, angular velocity, angular acceleration, and torque. Why are the items different even though they are probes on the same roller?

Maple Transactions frequently gets submissions that contain Maple code.  The papers (or videos, or Maple documents, or Jupyter notebooks) that we get are, if the author wants a refereed submission, sent to referees by a fairly usual academic process.  We look for well-written papers on topics of interest to the Maple community.

But we could use some help in reviewing code, for some of the submissions.  Usually the snippets are short, but sometimes the packages involved are more substantial.

If you would be interested in having your name on the list of potential code reviewers, please email me (or Paulina Chin, or Jürgen Gerhard) and we will gratefully add you.  You might not get called on immediately---it depends on what we have in the queue.

Thank you very much, in advance, for sharing your expertise.

Rob

I want to know the change of the web during the web handling process, so I attached the probe, and it shows the checkboxes to observe the velocity and tension values as shown in the picture, but there are 3 additional checkboxes like Force - T2 / real - e / real - e2, what does this mean?

A ball on a turntable can move in circles instead of falling off the edge (provided the initial conditions are appropriate). The effect was demonstrated in a video and can be simulated with MapleSim. The amination below shows a simulation of a frictionless case (falling off the table) and the case with a coefficient of friction of one.

Also demonstrated in the video: Tilting the table leads to a sideward (not a downhill) movement of the ball.

The presenter of the video noted that in the untilted state, the ball eventually drifts off the table, attributing this to slippage. This drift is also observable in the animation above, where the ball starts moving in a spiral, whereas in a Maple simulation (below to the left), the ball follows a perfect circle. Only after optimizing contact and initial conditions, MapleSim produced a result (using the same parameters) that exhibits a similar circle, with a slight difference in angular orientation after completing two revolutions about the center of the circle.

Some observations on the MapleSim model:

• The results only slightly depend on the solvers. Numerical inaccuracies do not seem to be the reason for the difference in orientation. (Edit: see update below for the reason).
• The ball bounces up and down in the MapleSim simulation (0.0025 of the balls radius). The bouncing is caused by the fact that the initial position of the ball is above the elastic equilibrium position with respect to the table (the elastic contact makes the ball sink in a bit). Adding damping in the settings of the contact element attenuates this effect and reduces the drift.
• Drift is not observable anymore if in the contact element setting for "kmu" (smoothness coefficient of sliding friction) is set to larger values (above 10 in this example). This is an indication that sliding friction occurs during the simulation.
• Choosing the equilibrium position as initial condition for the ball does not prevent initial bouncing because MapleSim sets an initial velocity for the ball that is directed away from the table. I did not manage to enforce strictly zero velocity. Maybe someone can tell why that is and how to set MapleSim to start the simulation without vertical velocity. (Edit: see update below for the reason).
• Assuming an initial velocity towards the contact to cancel the initial vertical velocity set by MapleSim substantially reduces bouncing and increases the diameter of the circle. This finally leads to a diameter that matches the Maple simulation. Therefore the initial bouncing combined with slippage seems to dissipate energy which leads to smaller circles. Depending on the contact settings and initial conditions for vertical movement the diameter of the circle varied moderately by about 15%.

In summary, MapleSim can be parametrized to simulate an ideal case without slippage. From there it should be possible to tune contact parameters to closely reproduce experiments where parameters are often not well known in advance.  

Some thoughts for future enhancement of MapleSim:

• In the model presented here, a patterned ball would have been helpful to visualize the tumbling movement of the ball. Marking two opposite sides of the ball with colored smaller spheres is a fiddly exercise that does not look nice.
• A sensor component that calculates the energy of a moving rigid body would have helped identifying energy loss of the system. Ideally the component could have two ports for the rotational and translational energy components. I see professional interest in such calculations and not only educational value for toy experiments.
• A port for slippage on the contact elements would have helped understanding where slippage occurs. Where slippage is, there is wear and this is also of interest for industrial applications.

Turntable_Paradox.msim (contains parameter sets for the above observations)

How can a variable roller ensure that the nip is within the arc of contact between the web and the roller? Every time I run the simulation, it keeps failing.

I know that I can have Websource and WebSink at the beginning and end of the web. However, when the roller is set to a variable roller, the following error occurs when connecting the websource and websink. I would like to know why the error occurs and what I should do.

Can MapleSim simulate a situation where a cable passes through a hole in an object, where the cable is constrained by the hole and the object also experiences forces from the cable because of the hole?

I was wondering whether the rendering of bars

looks also dot like on other computers

Looks like Newtonian notation

We have just released updates to Maple and MapleSim.

Maple 2023.2 includes a strikethrough character style, a new unit system, improved behavior when editing or deleting subscripts, improved find-and-replace, better mouse selection of piecewise functions and the contents of matrices, and more.  We recommend that all Maple 2023 users install this update.

This update also include a fix to the problem with setoptions3d, as first reported on MaplePrimes. Thanks, as always, for helping us make Maple better.

This update is available through Tools>Check for Updates in Maple, and is also available from the Maple 2023.2 download page, where you can find more details.

At the same time, we have also released an update to MapleSim, which contains a variety of improvements to MapleSim and its add-ons. You can find more information on the MapleSim 2023.2 download page.

Modal Analysis is a very usefull feature. Only the animation window is sometimes too tiny.

How to enlarge this view and to pause the animation?

This seems to be a Maple plot window (a "Rotate the view" cursor is visible and the animation can be rotated). Are there any short cuts or functions keys to toggle plot view options?

Edit: Looks to my like a Maplet. Maybe a Maplet programmer can tell if that (what I am asking) is possible

Both, Maple and MapleSim in Versions from 2021 to 2023 do not start. A logfile is saved which starts as

# A fatal error has been detected by the Java Runtime Environment:

#

#  EXCEPTION_ACCESS_VIOLATION (0xc0000005) at pc=0x0000000000000000, pid=17256, tid=10520

#

# JRE version: OpenJDK Runtime Environment Temurin-19.0.1+10 (19.0.1+10) (build 19.0.1+10)

# Java VM: OpenJDK 64-Bit Server VM Temurin-19.0.1+10 (19.0.1+10, mixed mode, tiered, compressed oops, compressed class ptrs, g1 gc, windows-amd64)

# Problematic frame:

# C  0x0000000000000000

#

This only occurs when the notebook (on which the error occurs) is connected to the domain network. If the notebook is not connected, Maple and MapleSim can be started and will continue to run when the network is reconnected.

Has anybody seen this before or any ideas what this could be?

Edit: This all happened under Windows 10 on a notebook that has been running Maple for 3 years and only recently displayed this error.

Edit2: Connection via an USB doc which also connects to an external monitor.

This is an successfull attempt to simulate space frames in MapleSim using the relatively new Rod component.

At t=3s, a lateral force component is applied to make the simulation more interesting.

The structure collapses/folds in an origami style fashion.

To build the model, MapleSim needs additional components.

For example, an equilateral triangle

requires the addition of rigid body frames at the connection of two rods.

Additionally, the rigid body frames must have initial position conditions (ICs) that match the intended structure.

Interestingly the ICs do not have to be set to Treat as Guess. It is only required to put an approximate coordinate. Leaving the ICs on Ignore was sufficient for the attached model.

Rod components can be replaced by Flexible Beam components which require considerably more simulation time and either Revolute joints at their ends or a rather complex connection with Rigid Body frames (of zero length) to adjacent Flexible Beam components.

Spaceframe_2.msim

Hi, I have a cable driven robot arm consist of three joint and four links driven by cables from three pulleys. Each joint conneted to each pulley by cables independently. When I use inverse kinematic steps in maple I get these messages :

MB := zModel:-GetMultibody('simplify' = true):
                     "Analyzing system..."

              "Performing constraint analysis..."

"The system has 6 degree(s) of freedom.  It is modeled using 6 

   generalized coordinate(s) coupled by 0 algebraic constraint(s\

  )."

the problem is that I have six Generalized coordinates (3 joints + 3 pulleys) , I can find the inverse kinamatic of joint angles according to end effector position , the question is:
how can I apply it to pulley's angle?