Version 2.0 (R13+) SimMechanics™ Software Release Notes

Version 2.0 (R13+) SimMechanics Software

This table summarizes what's new in V2.0 (R13+):

New features and changes introduced in this version are described here.

• Code Generation with Real-Time Workshop

• Accelerator Mode and Discrete Events

• Expanded Handle Graphics Visualization Features

• Variable Body Mass and Inertia Tensor

• Vectorized Joint Initial Condition Actuation

• Damped Linear Force Element Blocks

• New Mechanical Branching Bar Block

Code Generation with Real-Time Workshop

You can now generate stand-alone C code from SimMechanics models using Real-Time Workshop. You can also export it to a PC kernel using xPC Target.

SimMechanics version 2.0 requires Real-Time Workshop 5.0.1 or later to generate code for the Rapid Simulation (RSIM) target.

Accelerator Mode and Discrete Events

Accelerator mode now supports discrete events associated with the Joint Stiction Actuator and the Point-Curve Constraint.

Expanded Handle Graphics Visualization Features

The SimMechanics visualization tool has a large number of new features, including recording and playback of simulation animations.

Variable Body Mass and Inertia Tensor

The Sensors & Actuators library features a new Variable Mass & Inertia Actuator block. This block accepts Simulink signals that vary the mass and/or inertia tensor of the Body block to which it is connected. The block only simulates the changes in the body's mass properties and does not simulate the effect of the thrust forces or torques resulting from the accretion or ejection of mass.

Vectorized Joint Initial Condition Actuation

The Joint Initial Condition Actuator block now lists all the primitives in the Joint block to which it is connected. You can set initial positions/angles and initial velocities separately for each prismatic and revolute primitive.

Damped Linear Force Element Blocks

This release introduces a new block library, Force Elements, with two blocks representing damped linear harmonic oscillator forces. The Body Spring & Damper block simulates a damped spring-like force between two bodies. The Joint Spring & Damper block actuates a joint primitive with a damped spring-like force or torque.

New Mechanical Branching Bar Block

The Utilities library features the new Mechanical Branching Bar block. You can use this block to map multiple sensor and actuator lines to one sensor/actuator port on a Joint, Constraint, or Driver or to one Body coordinate system on a Body.

Version 2.0.1 (R13+) SimMechanics Software

Compatibility Summary for SimMechanics Software