Documentation

Actuators and Sensors

Initiate, impose, and measure mechanical motion

Blocks

Body Actuator Time-dependent force and torque used to actuate a body
Body Sensor Body translation and rotation sensor
Constraint & Driver Sensor Sensor used to measure the reaction force and torque between two constrained or driven bodies
Driver Actuator Time-dependent motion input for driver blocks
Joint Actuator Time-dependent force, torque, or motion input to a joint
Joint Initial Condition Actuator Initial joint position and velocity
Joint Sensor Joint force, torque, and motion sensor
Joint Stiction Actuator Joint static and kinetic friction
Variable Mass & Inertia Actuator Time-dependent mass and inertia parameters

Topics

Applying Motions and Forces

How to apply forces, motions, and initial conditions to machines

Sensing Motions and Forces

How to measure forces and motions in machines

Adding Internal Forces

How to represent forces generated within machines

Mechanical Dynamics

Review of how forces and torques produce accelerations

Finding Forces from Motions

Examples of the Inverse Dynamics and Kinematics analysis modes

Trimming Mechanical Models

Examples of finding machine steady states with the Trimming mode

Linearizing Mechanical Models

Examples of analyzing linear response of perturbed mechanical systems with Simscape™ Multibody™ software and Simulink®

Trimming and Linearizing Through Inverse Dynamics

Trimming a Stewart platform with the Kinematics mode

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