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A spring-mass system attached to a pendulum

This project consists of an oscillating slider attached with a spring to a simple pendulum. The simulation, based on the direct dynamics, performs a time integration for the given initial positions and velocities. This simple system becomes more and more complex afterwards in order to introduce the user to Robotran features such as closed-loop kinematics, external forces, driven variables and algebraic constraints.

The description of the step by step modeling is available in the Tutorial.