Documentation

Assembly

Connect bodies through joints, gears, and constraints

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.

Simscape Blocks

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
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

Examples and How To

Mechanical Linkages

Model an Open-Loop Kinematic Chain

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

Model a Closed-Loop Kinematic Chain

Assemble rigid 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.

Gears and Constrained Mechanisms

Model a Cam Constraint

Use a Point On Curve Constraint block to constrain the motion of a solid frame origin to a spline curve.

Model a Rack-and-Pinion Constraint

Use the Rack and Pinion Constraint block to couple the translational and rotational motions of the bodies comprising a rack-and-pinion system.

Model a Common Gear Constraint

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

Concepts

Assembling Multibody Systems

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

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.

Gear Constraints

Types of gear constraints that you can use and their relevant characteristics.

Multibody Assembly

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

Mechanism Degrees of Freedom

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

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