Documentation

Simscape Multibody Blocks

Alphabetical List By Category

Simscape Multibody First Generation

Block Libraries

Machines, Bodies and Grounds

BodyRigid body with frames, inertia and geometry
GroundFixed point attached to world
Machine EnvironmentMechanical simulation parameters of a machine
Shared EnvironmentUtility that connects two independent machines in a single mechanical environment

Joints

Assembled Joints
BearingJoint with three revolute and one prismatic joint primitives
BushingJoint with three revolute and three prismatic joint primitives
Custom JointJoint with custom combination of prismatic, revolute, and spherical joint primitives
CylindricalJoint with one revolute and one prismatic joint primitives
GimbalJoint with three revolute joint primitives
In-PlaneJoint with two coplanar prismatic joint primitives
PlanarJoint with one revolute and two prismatic joint primitives
PrismaticPrimitive joint with one translational degree of freedom
RevolutePrimitive joint with one rotational degree of freedom
ScrewJoint with coupled rotational and translational degrees of freedom
Six-DoFJoint with three revolute and three prismatic joint primitives
SphericalPrimitive joint with three rotational degrees of freedom
TelescopingJoint with three revolute and one prismatic joint primitives
UniversalJoint with two revolute joint primitives
WeldJoint with zero degrees of freedom
Disassembled Joints
Disassembled CylindricalJoint with misaligned base and follower axes containing one revolute and one prismatic joint primitives
Disassembled PrismaticPrimitive joint with misaligned base and follower axes containing one translational degree of freedom
Disassembled RevolutePrimitive joint with misaligned base and follower axes containing one rotational degree of freedom
Disassembled SphericalPrimitive joint with misaligned base and follower axes containing three rotational degrees of freedom
Massless Connectors
Revolute-RevoluteConstant-length joint connector with two spatially separated revolute axes
Revolute-SphericalConstant-length joint connector with spatially separated revolute axis and spherical pivot point
Spherical-SphericalConstant-length joint connector with two spatially separated spherical pivot points

Constraints and Drivers

Angle DriverDriver specifying a time-dependent angle between two body axis vectors
Distance DriverTime-dependent distance between two body coordinate systems
Gear ConstraintConstraint that restricts body motion to rotation along tangent circles
Linear DriverTime-dependent signal of a vector position component between two body coordinate systems
Parallel ConstraintConstant parallel relationship between two body axis vectors
Point-Curve ConstraintConstraint that restricts body motion to a specified path
Velocity DriverLinear and angular velocity components of base and follower body coordinate systems

Actuators and Sensors

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

Force Elements

Body Spring & DamperDamped linear oscillator force between two bodies
Joint Spring & DamperDamped linear oscillator force or torque acting on a joint

Interface Elements

Prismatic-Translational InterfaceConnection interface between prismatic primitive and Simscape mechanical translational elements
Revolute-Rotational InterfaceConnection interface between revolute primitive and Simscape mechanical rotational elements

Utilities

Continuous AngleUtility that converts a discontinuous bounded angle into a continuous unbounded angle
Mechanical Branching BarUtility that maps multiple sensor and actuation signals into a single connection line
RotationMatrix2VRUtility that transforms 3x3 rotation matrix into rotation axis-angle 4-vector
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