Documentation

This is machine translation

Translated by Microsoft
Mouseover text to see original. Click the button below to return to the English verison of the page.

Note: This page has been translated by MathWorks. Please click here
To view all translated materals including this page, select Japan from the country navigator on the bottom of this page.

Mechanism Configuration

Mechanism-wide simulation and mechanical parameters

Library

Utilities

Description

This block provides mechanical and simulation parameters to a mechanism, i.e., a self-contained group of interconnected Simscape™ Multibody™ blocks. Parameters include gravity and a linearization delta for computing numerical partial derivatives during linearization. These parameters apply only to the target mechanism, i.e., the mechanism that the block connects to.

The Mechanism Configuration block is optional. If you omit it, the gravitational acceleration vector is set to zero. Use only one instance of this block per mechanism, setting uniform gravity to None if that mechanism contains one or more Gravitational Field blocks.

C/C++ Code Generation

This block supports code generation for real-time simulation tasks. Certain blocks and block settings may be more suitable for simulation on a real-time device. For suggestions on how to improve real-time simulation performance, use the Simulink® Performance Advisor (Simulink). Suggestions include ways to reduce model complexity where helpful and to decrease numerical stiffness.

Select Analysis > Performance Tools > Performance Advisor in the Simulink menu bar to open the Performance Advisor. Set the Activity parameter to Execute real-time application to view suggestions specific to real-time simulation performance. Expand the Real-Time node in the tree view pane to select performance checks specific to Simscape products.

Parameters

Uniform Gravity

Type of gravitational acceleration vector in effect at the target mechanism. Options include:

  • None — Specify zero gravity. The block automatically applies the gravitational acceleration vector [0 0 0] to the target mechanism. If the mechanism contains one or more Gravitational Field blocks, you must select this option.

  • Constant — Specify a gravitational acceleration vector that remains constant in space and in time. Selecting this option exposes an additional parameter, Gravity. If the target mechanism contains one or more Gravitational Field blocks, you must select None instead.

  • Time-Varying — Specify a gravitational acceleration vector that remains constant in space but varies in time. Selecting this option exposes a physical signal port. Use that port to specify the time-varying gravitational acceleration vector. If the target mechanism contains one or more Gravitational Field blocks, you must select None instead.

Gravity

Nominal acceleration vector due to gravity. The block resolves this vector in the mechanism World frame. The default vector is [0 0 –9.80665] m/s^2.

Linearization Delta

Perturbation value for computing numerical partial derivatives during linearization. The default value is 0.001.

Ports

PortDescription
CFrame port that identifies the target mechanism to which the block parameters apply.
gPhysical signal port through which you specify a time-varying gravity vector.

Introduced in R2012a

Was this topic helpful?