Assemble bodies into multibody systems. Use joints, gears, and other constraints to model the relative degrees of freedom between bodies. Specify joint state targets to guide model assembly. For an overview of the multibody assembly steps, see Assembling Multibody Systems. For an example showing how to assemble a multibody system, see Model an Open-Loop Kinematic Chain.
|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|
|Constant Velocity Joint||Joint with two rotational DoFs between shafts constrained to spin with equal velocity|
|Cylindrical Joint||Joint with one prismatic and one revolute primitives possessing parallel motion axes|
|Gimbal Joint||Joint with three revolute primitives|
|Lead Screw Joint||Joint with coupled rotational and translational degrees of freedom|
|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|
|Prismatic Joint||Joint with one prismatic primitive|
|Rectangular Joint||Joint with two prismatic primitives|
|Revolute Joint||Joint with one revolute primitive|
|Spherical Joint||Joint with one spherical primitive|
|Telescoping Joint||Joint with one prismatic and one spherical joint primitive|
|Universal Joint||Joint with two revolute primitives|
|Weld Joint||Joint with zero primitives|
|Bevel Gear Constraint||Kinematic constraint for transferring rotational motion at a fixed ratio about arbitrarily oriented axes|
|Common Gear Constraint||Kinematic constraint for transferring rotational motion at a fixed ratio about parallel axes|
|Rack and Pinion Constraint||Kinematic constraint for converting between rotation and translation|
Assemble rigid body subsystems and revolute joints into an open-loop kinematic chain.
Assemble rigid body subsystems and revolute joints into a closed-loop kinematic chain.
Use Mechanics Explorer and Model Report to identify and correct a model assembly error.
Use a Point On Curve Constraint block to constrain the motion of a solid frame origin to a spline curve.
Use the Rack and Pinion Constraint block to couple the translational and rotational motions of the bodies comprising a rack-and-pinion system.
Use the Common Gear Constraint block to couple the rotational motions of the bodies comprising a planetary gear system.
Workflow steps for assembling rigid body subsystems into an articulated multibody model.
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.
Types of gear constraints that you can use and their relevant characteristics.
Connecting bodies with joints, positioning and orienting joint frames through rigid transforms, and guiding joint assembly through by specifying joint state targets.
Using the Simscape™ Statistics Viewer to determine the motion degrees of freedom in a mechanism.