Time-dependent force and torque used to actuate a body
Force for translational motion
Torque for rotational motion
The generalized force is a function of time specified by a Simulink® input signal. This signal can be any Simulink signal, including a signal feedback from a Sensor block.
The Body Actuator applies the actuation signal in the reference coordinate system (CS) specified in the block dialog.
The inport is the Simulink input signal. The output is the connector port you connect to the Body block you want to actuate.
Tip Carefully distinguish the Body Actuator from the Driver blocks:
The Body Actuator block actuates a Body with force/torque signals only. To actuate a Body with motion signals or initial conditions, or to drive the relative degrees of freedom between a pair of Bodies, see Actuating a Joint and Joint Actuator Example: Body Driver.
The mech_body_drivermech_body_driver model shows how to drive the relative DoFs between a pair of bodies. To actuate one body alone, use this model and replace the second Body block with a Ground block. To set body initial conditions, replace the second Body block with a Ground block and the Joint Actuators with Joint Initial Condition Actuators.
In the pull-down menu, choose the coordinate system (CS) in which the actuating force/torque is interpreted: either the Local (Body CS) to which the Actuator is connected or the default Absolute (World).
You can apply a force, a torque, or both generalized forces to a body.
If you apply both, you need to bundle the torque and force vectors into a 6-component signal, in the order shown in the dialog.
Select the check box if part or all of the actuating signal is a rotational torque. The default is not selected. The Simulink torque input is a 3-component bundled signal.
In the Units pull-down menu, choose units for the actuating torque. The default is N*m (newton-meters).
Select the check box if part or all of the actuating signal is a translational force. The default is selected. The Simulink force input is a 3-component bundled signal.
In the Units pull-down menu, choose units for the actuating force. The default is N (newtons).
Here is a Body Actuator connected to a Body:
You must connect the Body Actuator to the Body at one of that Body's attached Body CSs, at the corresponding Body CS Port. The actuation signal acts on the Body at that Body CS's origin.