To model a 3-D multibody system, you use the SimMechanics™ block library. This library contains seven sublibraries that you represent the different model components with. Components that you can represent include rigid bodies, joints, gear and general kinematic constraints, forces and torques, and motion sensors.
To open the SimMechanics block library, at the MATLAB® command line enter sm_lib. The SimMechanics block library opens in a new window. The figure shows the library.
SimMechanics Block Library
The table summarizes the modeling purpose of each SimMechanics sublibrary. Open a sublibrary to explore its blocks. For detailed information about a block, see its reference page. You can do this by double-clicking the block and clicking Help in the block dialog box.
|Body Elements||Represent the solid properties of a rigid body|
|Constraints||Constrain the relative motion between two rigid body frames|
|Forces and Torques||Apply internal and external forces and torques on or between rigid body frames|
|Gears and Couplings||Couple the motion of two rigid body frames|
|Joints||Represent the mechanical degrees of freedom between two rigid body frames|
|Utilities||Represent the mechanical environment of a multibody system|