Model and sense forces, torques, and motion variables. You can model joint actuation inputs and internal mechanics, external loads, interactions between bodies, and gravity. You can sense position, velocity, and acceleration as well as various types of forces and torques.
For an overview of the dynamical variables that you can model and sense, see Modeling and Sensing System Dynamics. For an example showing how to actuate a joint, see Specify Joint Actuation Torque. For an example showing how to sense trajectory coordinates, see Sense Motion.
|External Force and Torque||General force and torque arising outside the modeled system|
|Gravitational Field||Field of force due to point mass|
|Internal Force||General force acting reciprocally between two frame origins|
|Inverse Square Law Force||Force proportional to the inverse square distance between two frame origins|
|Spring and Damper Force||Force proportional to the distance and relative velocity between two frame origins|
Use the Transform Sensor block to sense frame motion in a simple multibody model.
Use the sensing capability of a joint block to sense the internal forces acting on a mechanical link.
Use the sensing capability of joint blocks to measure the forces and torques acting at a joint.
Simulate a four-bar model at different coupler link lengths and plot the resulting coupler curves.
Use the actuation capability of a joint block to specify the actuation torque on a joint.
Use the actuation capability of joint blocks to specify the trajectory of frame.
Use the actuation capability of joint blocks to specify the trajectory of a frame.
Assemble a system of gravitationally-bound free bodies using Cartesian Joint and Gravitational Field blocks.
Workflow steps for setting and sensing dynamic quantities such as force, torque, position, and more.
Modeling the effects of uniform gravity, gravitational fields, and individual gravitational forces. Software definition of rigid body boundaries and its impact on gravitational torques.
Joint actuation modes, motion input handling, and key differences between model assembly and simulation.
Using physical signals to specify actuation inputs and obtain sensing outputs.
Forces and torques that you can sense and the blocks that you can use to sense them.
Motion variables that you can sense and the blocks that you can use to sense them.
Translational variables that you can sense and the blocks that you can use to sense them.
Rotational motion variables that you can sense and the blocks that you can use to sense them.
Measurement frame definition and summary of measurement frame types.
Restrictions and special considerations for models with motion actuation inputs in joint blocks.