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| R2012a Documentation → SimMechanics | |
Learn more about SimMechanics |
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| Contents | Index |
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SimMechanics software is organized into a set of libraries of closely related blocks. This section shows how to view these libraries and gives you a summary of what they contain.
There are several ways to open the SimMechanics block library.
You can access the blocks through the Simulink Library
Browser. Open the browser by clicking the Simulink button
. Expand the Simscape entry,
then the SimMechanics subentry, in the contents tree.
You can also access the blocks directly inside the SimMechanics library in several ways:
In the Simulink Library Browser, right-click the SimMechanics subentry under Simscape and select Open SimMechanics Library. The library appears.
Click the Start button in the lower left corner of your MATLAB desktop. In the pop-up menu, select Simulink, then SimMechanics, then Block Library.
Enter mechlib at the MATLAB command line.
Once you perform one of these steps, the SimMechanics library opens.
Tip This library displays the top-level block groups. You can expand each library by double-clicking its icon. The Joints library contains second-level sublibraries. |
The next section summarizes the blocks of each library and their use. For explanations of individual blocks, consult the SimMechanics Block Reference reference.
The SimMechanics block library is organized into separate libraries, each with a different type of mechanical block.
The Bodies library provides the Body block for representing bodies defined by their mass properties (masses and inertia tensors), their positions and orientations, and their attached Body coordinate systems (CSs). This library also contains the Ground block representing immobile ground points, which have their own Grounded CSs, and the Machine Environment block, for configuring the mechanical settings of a SimMechanics block diagram.
The Joints library provides blocks to represent the relative motions between bodies as degrees of freedom (DoFs). The library is made up of assembled Joints listed individually and two sublibraries of specialized Joint blocks.
An assembled joint restricts the Body CSs on the two bodies to which it is connected. The assembled Joints are the primitive Prismatic, Revolute, and Spherical blocks and ready-made composite Joints. Unless it is explicitly labeled as disassembled, you can assume a generic Joint block is assembled.
Joints/Disassembled Joints. The Disassembled Joints sublibrary provides blocks for disassembled joints, modified joints that do not restrict the Body CSs on the two connected bodies or the DoF axes of the two bodies. You can only use Disassembled Joints to close a loop in your machine. You cannot sense or actuate Disassembled Joints.
Joints/Massless Connectors. The Massless Connectors sublibrary provides blocks for massless connectors, composite joints whose DoFs are separated by a fixed distance. You cannot actuate or sense Massless Connectors.
The Constraints & Drivers library provides blocks to specify prior restrictions on DoFs between Bodies. These restrictions can be time-independent constraints or time-dependent driving of DoFs with Simulink signals.
The Sensors & Actuators library provides blocks for sensing and initiating the motions of joints and bodies. These blocks play a special role in connecting SimMechanics blocks to other Simulink blocks, as described in Connecting SimMechanics Blocks, Applying Motions and Forces, and Sensing Motions and Forces.
The Force Elements library provides blocks for creating forces or torques between bodies. These blocks model forces internal to your machine.
The Interface Elements libraries includes blocks to connect three-dimensional machines modeled with SimMechanics blocks and one-dimensional mechanical Simscape circuits.
The Utilities library contains miscellaneous blocks useful in building models.
 | Modeling, Simulating, and Visualizing Simple Machines | Essential Steps to Building and Running a Mechanical Model |  |
Learn more about Simulink through this collection of videos, articles, technical literature and the Getting Started with Simulink Guide.
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