Hi Joeren,

For both of these, the solution is to write a transmission.  Both
issues require a specific translation between actuators and joints,
and the best way to encode that translation is in a transmission.

-Stu

On Fri, Nov 19, 2010 at 1:36 AM, Jeroen Willems <jjpa.willems@gmail.com> wrote:
> Hi All,
>
> I'm currently modeling a hexapod in Gazebo but I'm currently having some
> difficulties.
>
> I have basically 2 questions, I hope that this is not a problem for one post
> but both have to do with the transmission:
>
> 1) Between the actuators and the joints are torsion springs. I haven't found
> something that incorporates flexibility between actuators and joints.
> Is there some solution or workaround to obtain this or should I try an
> alternative solution like writing a custom transmission?
>
> 2) As you can imagine I have 6 legs consisting of three links, basically an
> elbow manipulator.
> The last two links can be regarded as in a 2D-plane. The third link is
> remotely driven.
> This means that when rotating the second link the third link does not change
> the rotation with respect to the body.
> So in a 'standard' situation the third link rotates with the second link so
> the angle between those two does not change.
> I hope this is a bit clear.
> So again is there some solution or workaround?
>
> Thanks!
>
> Jeroen
>
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-- 
Stuart Glaser
sglaser -at- willowgarage -dot- com
www.willowgarage.com