Documentation

Model Simple Body

Overview

In this example, you model a simple body using the Body block. You visualize the body as an ellipsoid whose dimensions depend on the body's mass and inertia tensor.

Model the Body

  1. Add these blocks from the Simscape™ Multibody™ First Generation (1G) library onto a new model:

  2. In the Body block dialog box, select the Show Port checkbox for the CG coordinate system and clear those for the CS1 and CS2 coordinate systems. You can deleted these coordinate systems.

  3. In the Ground block dialog box, select the Show Machine Environment port checkbox.

  4. Connect the blocks as shown in the figure.

Visualize Body

  1. Select Simulation > Configuration Parameters.

  2. In the Simscape Multibody First Generation pane, select the Display machines after updating diagram. This option ensures the visualization utility opens when you update or simulate your model.

  3. Select Simulation > Update Diagram.

  4. In the visualization menu, select Model > Body Geometries > Ellipsoids. The visualization utility changes the body geometry to a sphere.

  5. In the visualization toolstrip, select the Fit to View button. The visualization utility adjusts the zoom level to show the body in the window confines.

Modify Body Inertia

  1. In the Body block dialog box, specify these parameters:

    • Mass11.5 kg

    • Inertia[18,0,0;0,56,56;0,0,56] kg*m^2

  2. Update the diagram. With the inertia tensor no longer symmetrical, the visualization utility now shows the body as an elongated ellipsoid.

Rotate Body

To apply a rotation transform between the body CG coordinate system and the world coordinate system, see Rotate Simple Body.

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