SimMechanics

Creating Bodies and Grounds

Body	Customizable rigid body
Ground	Immobile point at rest in World

Creating Joints

Creating Assembled Joints

Bearing	Composite: one prismatic, three revolutes
Bushing	Composite: three prismatics, three revolutes
Custom Joint	Customizable composite joint: up to three translational and three rotational DoFs
Cylindrical	Composite: one prismatic, one revolute (axes aligned)
Gimbal	Composite: three revolutes
In-Plane	Composite: two prismatics
Planar	Composite: two prismatics, one revolute
Prismatic	Primitive: one translational DoF
Revolute	Primitive: one rotational DoF
Screw	Composite: one prismatic, one revolute (constrained)
Six-DoF	Composite: three prismatics, one spherical
Spherical	Primitive: three rotational DoFs at pivot
Telescoping	Composite: one prismatic, one spherical
Universal	Composite: two revolutes
Weld	Primitive: no DoFs (rigid)

Creating Disassembled Joints

Disassembled Cylindrical	Misaligned translational-rotational DoFs
Disassembled Prismatic	Misaligned translational DoF
Disassembled Revolute	Misaligned rotational DoF
Disassembled Spherical	Dislocated spherical DoF

Creating Massless Connectors

Revolute-Revolute	Composite: revolute separated revolute
Revolute-Spherical	Composite: revolute separated spherical
Spherical-Spherical	Composite: spherical separated spherical

Constraining and Driving Motion

Angle Driver	Specify angle between two body axes as function of time
Distance Driver	Specify distance between two body CS origins as function of time
Gear Constraint	Constrain two bodies rotating along two tangent pitch circles
Linear Driver	Specify vector component between two Body CS origins as function of time
Parallel Constraint	Constrain two body axes to be parallel
Point-Curve Constraint	Constrain motion of one body along curve on another body
Velocity Driver	Specify projected linear and angular velocities of two bodies as a function of time

Actuating and Sensing Motion

Body Actuator	Apply force/torque or motion to a body
Body Sensor	Measure body motion
Constraint & Driver Sensor	Measure constraint force/torque between pair of constrained bodies
Driver Actuator	Apply motion to pair of constrained bodies
Joint Actuator	Apply force/torque or motion to a joint primitive
Joint Initial Condition Actuator	Apply initial positions and velocities to Joint primitives
Joint Sensor	Measure joint motion and force/torque
Joint Stiction Actuator	Apply friction to joint primitive
Variable Mass & Inertia Actuator	Vary the mass and inertia on a body (does not include thrust force or torque)

Applying Force Elements

Body Spring & Damper	Model damped linear oscillator force between two bodies
Joint Spring & Damper	Model damped linear oscillator force or torque on a joint between two bodies

Additional Useful Blocks

Connection Port	Connector port for a subsystem
Continuous Angle	Convert bounded angular signals to unbounded signals
Mechanical Branching Bar	Map multiple sensor/actuator lines to one sensor/actuator port
RotationMatrix2VR	Convert rotation matrix to rotation axis and angle

SimMechanics Block Reference

Blocks - Alphabetical List