MATLAB SIMMECHANICS 3 - VISUALIZATION AND IMPORT GUIDE Manuale Utente Scaricare il pdf (Pagina 12)

1 Introduction to SimMecha nic s ™ Softwar e

Multibody Model Anatomy

In this section...

“Basic Model Components” on page 1-8

“Applying Forces and Torques” on page 1-11

“Sensing Motion” on page 1-13

With SimMechanics, you represent a multibody system using blocks. Like all

physical modeling products, each block represents a physical component or

an abstract entity fundamental to p hysical modeling, e. g. frames and frame

transforms.

By connecting the blocks with connection lines, you define the relationships

that unite the physical com ponents into a single system (or subsystem). In a

basic model, these physical components include rigid bodies and joints. You

can also add forces and torques, motion sensors, and kinematic constraints

such as gears.

Basic Model Components

The figure shows the block diagram of a multibody system—the four-bar

linkage. This model contains subsystem blocks to represent the links and

pivot mounts. These represent the rigid bodies of the m o del. The model

contains also four Revolute Joint blocks. These represent the joints in the

model. Combined, these blocks form the foundation of this model.

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MATLAB SIMMECHANICS 3 - VISUALIZATION AND IMPORT GUIDE Manuale Utente Pagina 12