I've done a bit of searching on the topic and have not found sufficient information to solve my problem.

I created a robot that is essentially 6 servo-type motors in series. The motors need to be driven using an angular displacement expression similar to theta(t) = Asin(Bt +C) where A, and B and C are known constants.

How do I input this type of expression into the expression-driven motor? I am having no luck using expression-based motors at all, and there are no tutorials anywhere I have searched that provide the details I'm looking for.

Thank you very much in advance.

Attached is the picture of my robot in case that helps.

Hi Andrew,

If you want a sinusoidal response, you can use the inbuilt "Oscillating" function by selecting that in the Motion section of the Motor PM. Specify the amplitude, frequence and phase shift. To make sure you got what you expected, click on the graph icon below to see the curve. Note that, this function always assumes that your initial position is at zero and you want to move relative to that in one direction and come back to the same position. If you look at the graph it will be clear.

Alternatively, you can specify an expression by selecting the "Expression" option. Select whether you want it to be a disp, vel or acc motor. Then in the fx section, you can type in any valid ADAMS expression. Use the suffix D to specify angles in degress. For example, you could type in 30D*sin(2*time+60D) to create a 30 deg amplitude sinusoidal motion with a frequency of 2 rad/s and a phase shift of 60 deg.

Hope this helps,

Regards,

Shrikant