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# Getting Started with Simscape Multibody

## Tutorials

• Start a New Model

Start a model from a template with commonly used blocks and suitable solver settings.

• Model a Simple Link

Model a simple body with solid properties and connection frames parameterized in terms of MATLAB® variables.

• Model a Simple Pendulum

Model a basic multibody system comprising a simple body and a revolute joint.

• Analyze a Simple Pendulum

Apply forces and torques to a basic multibody model. Sense motion variables at joints and visualize these variables using MATLAB plots.

## About Multibody Modeling

• Multibody Model Anatomy

Basic components of a Simscape™ Multibody™ model

• Creating a Multibody Model

Simscape Multibody modeling workflow

• Working with Frames

Frames are axis triads that encode the position and orientation of body elements in a body. Learn about frames as a means to connect body elements and about rigid transforms as a means to offset those elements.

• Modeling Bodies

Bodies are representations that you create of physical parts—gears, pistons, levers—for later assembly into multibody systems, a piston engine serving as an example. Here is an introduction to bodies as well as the blocks and tools commonly used to represent one in a model.

• Modeling Joint Connections

Role of joints in a multibody model. Joints as systems of joint primitives with elementary degrees of freedom. Accounting for the effects of joint inertia in a model.

• Visualize a Model and Its Components

Visualization is not only a central part of a multibody simulation, it is an essential tool in modeling bodies and verifying their shapes, sizes, frame placements, and colors. Here is an overview of the visualization utilities available in the Simscape Multibody environment and the roles they play in your modeling workflow.

#### Modeling Flexible Bodies with Simscape Multibody Software

Download technical paper