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Assembly

Connect bodies through joints, gears, and constraints

Connect bodies with joint and constraint blocks to assemble them into an articulated system. The joint blocks determine the maximum degrees of freedom—rotational and translational—allowed between the connected bodies. The constraint blocks reduce this number by applying kinematic relationships that often couple degrees of freedom. There are no restrictions on model topology: you can model kinematic trees such as a double pendulum and kinematic loops such as a four bar.

Simscape Blocks

Simple Joints

Prismatic Joint Joint with one prismatic primitive
Revolute Joint Joint with one revolute primitive
Spherical Joint Joint with one spherical primitive
Weld Joint Joint with zero primitives

Compound Joints

6-DOF Joint Joint with one spherical and three prismatic primitives
Bearing Joint Joint with one prismatic and three revolute primitives
Bushing Joint Joint with three prismatic and three revolute primitives
Cartesian Joint Joint with three prismatic primitives
Cylindrical Joint Joint with one prismatic and one revolute primitives possessing parallel motion axes
Gimbal Joint Joint with three revolute primitives
Pin Slot Joint Joint with one prismatic and one revolute primitives possessing mutually orthogonal motion axes
Planar Joint Joint with one revolute and two prismatic primitives
Rectangular Joint Joint with two prismatic primitives
Telescoping Joint Joint with one prismatic and one spherical joint primitive
Universal Joint Joint with two revolute primitives

Specialized Joints

Constant Velocity Joint Joint with two rotational DoFs between shafts constrained to spin with equal velocity
Lead Screw Joint Joint with coupled rotational and translational degrees of freedom
Bevel Gear Constraint Kinematic constraint between two bevel gear bodies with angled intersecting rotation axes
Common Gear Constraint Kinematic constraint between two coplanar spur gear bodies with parallel rotation axes
Rack and Pinion Constraint Kinematic constraint between a translating rack body and a rotating pinion body
Worm and Gear Constraint Kinematic constraint between worm and gear bodies with perpendicular non-intersecting rotation axes
Angle Constraint Fixed angle between two frame Z axes
Distance Constraint Fixed distance between two frame origins
Point On Curve Constraint Kinematic constraint between a frame origin and a curved path

Topics

Mechanical Linkage Examples

Model an Open-Loop Kinematic Chain

Assemble body subsystems and revolute joints into an open-loop kinematic chain.

Model a Closed-Loop Kinematic Chain

Assemble body subsystems and revolute joints into a closed-loop kinematic chain.

Troubleshoot Assembly Errors in Aiming Mechanism Model

Use Mechanics Explorer and Model Report to identify and correct a model assembly error.

Constrained Mechanism Examples

Assemble a Gear Model

Learn how to satisfy the assembly requirements of gear constraints using Rigid Transform blocks.

Constrain a Point to a Curve

Use a Point on Curve Constraint block to restrict the motion of an aircraft flap to a curved trajectory specified in a Spline block.

Model a Compound Gear Train

Use the Common Gear Constraint block to couple the rotational motions of the bodies comprising a planetary gear system.

Multibody Assembly Concepts

Multibody Assembly Workflow

Workflow steps for assembling body subsystems into an articulated multibody model.

How Multibody Assembly Works

Connecting bodies with joints, positioning and orienting joint frames through rigid transforms, and guiding joint assembly through by specifying joint state targets.

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.

Modeling Gear Constraints

Learn how to model gear constraints using simple gear models as examples.

Counting Degrees of Freedom

Using the Simscape™ Statistics Viewer to determine the motion degrees of freedom in a mechanism.

Featured Examples

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