SimMechanics

Modeling Mechanical Systems

Modeling Machines	How to create a valid mechanical model with SimMechanics and Simulink
Modeling Bodies	How to represent the machine environment and the mass and geometric properties of bodies
Modeling Joints	How to represent degrees of freedom as joints
Modeling Constraints and Drivers	How to represent time-independent and time-dependent constraints on relative body motions
Modeling Actuators	How to apply forces, motions, and initial conditions to machines
Modeling Force Elements	How to represent internal forces within machines
Modeling Sensors	How to measure motions and forces in machines and create feedback loops to model internal forces
Checking Model Validity	Special restrictions and requirements for block diagram models with SimMechanics blocks

Refer to the Understanding Mechanical Concepts chapter to review kinematics. If you need more information on rigid body mechanics, consult the physics and engineering literature, beginning with the Selected Bibliography. Classic engineering mechanics texts include Goodman and Warner [3], [4] and Meriam [10]. The books of Goldstein [2] and José and Saletan [6] are more theoretically oriented.

Summary of Technical Vocabulary

Modeling Machines