Model an inverted double pendulum mounted on a sliding cart using Simscape Multibody™. It also illustrates the use of a controller to balance the pendulum in the upright position. Make any
Illustrates a double wishbone front wheel automotive suspension. The suspension is mounted on two platforms that can independently move up and down to simulate a road profile on each wheel.
Models a 3-Roll robotic wrist mechanism based on the Cincinnati-Milacron 3-roll wrist mechanism. The mechanism uses three bevel gear pairs to rotate the tool about 3 independent axes. The
Interesting wave patterns that emerge among an array of simple pendulums with carefully chosen lengths. It is based on the physical system that can be viewed at
This model shows a wing landing gear mechanism that can deploy and retract based on the input deploy signal. The mechanism consists of the main column that houses the wheel assembly and the
This model shows a Stewart platform manipulator that can track a parameterized reference trajectory. The shape, size, and kinematics of the manipulator are highly configurable.
A hydraulically actuated backhoe model with closed-loop PID control. The mechanism consists of a fixed vehicle model with a base mounting bracket. The bracket allows the backhoe arm to
A fairground carousel ride. A torque applied to the wheel causes the carousel to rotate and a hydraulic actuator provides the force to lift the arm. The cabs are free to rotate about an axis
A hydraulically actuated slider-crank mechanism. The Rotational Hydraulic Actuator subsystem uses a Revolute-Rotational Interface block and Rotational Hydro-Mechanical Converter
A robot arm modeled in Simscape™ Multibody First Generation and visualized using Simulink® 3D Animation.
Model an automotive crash test with front seat crash dummy. The model uses virtual reality animation to visualize the results.
Model a single cylinder of an internal combustion engine. Visualization data for each body is provided by accompanying STL files.
Model a four-cylinder internal combustion engine. Major functions are organized into subsystems. Simscape™ Multibody First Generation blocks simulate the motion of the crank,
A rack and pinion assembly. Signal Builder is a graphical interface to specify the torque applied to the pinion as a function of time.
Model a flexible multiaxis cantilever. The cantilever can twist about its cross-section and elongate about its length. For a brief time, the cantilever is subject to a load modeling a
Represent a complex machine with Simscape™ Multibody First Generation™ blocks and perform a linear stability analysis on the machine's motion.
A four bar mechanism. Visualization data for each body is provided by an accompanying STL file.
A driven double pendulum with stiction on both revolute joints. The angular velocity plots show the locking and unlocking of the joints.
A library containing blocks that allow you to actuate a single joint primitive at a time with these types of friction:
A hydraulically operated four bar linkage that transfers crates between platforms of different heights. The Body Force Interface subsystem uses a Prismatic-Translational Interface
Model an elastic ball bouncing on a planar body rigidly connected to the ground. The contact between the ball and the planar body is modeled by a penalty force that mimics impact and
A Stewart Platform model imported from a CAD assembly. The plant subsystem for this example has been imported from a CAD assembly designed in SolidWorks®. Visualization data for each body
A flexible string, plucked at the center with an initial force and then allowed to vibrate freely. The string is also subject to its own weight in gravity.
A closed-loop machine with one flexible bar turning under the influence of gravity.
A sphere rolling in two dimensions with rolling constraints between translation and rotation. The sphere has two independent degrees of freedom (DoFs). The model represents them as
This model illustrates the CAD import workflow in Simscape Multibody™. 1. Export CAD model into a Simscape Multibody™ Import XML (stewart_platform.xml). 2. Import the Simscape
Import geometry and inertia data using STEP files. The STEP file is a standard format used commonly for data exchange between CAD applications. The format can capture a parts complete
Highlights key concepts and recommended steps for building a mechanical model using Simscape Multibody. A simple design problem has been chosen to serve this purpose. The following
Illustrates the use of motion actuation to determine the actuator torques needed for the robot to achieve a given welding task. The system consists of a seven degree of freedom robot carrying
Tested by ode45 against a SimMechanics simulation. Actuation is in torque at the base. Equations are the full non-linear version but neglect friction and lateral inertia.
The Cardan Gear mechanism that converts rotational motion into reciprocating linear motion without using linkages or slideways. The mechanism uses three gears - one sun and two planet
A windshield wiper mechanism. The mechanism utilizes a rack and pinion to drive the wiper blades in a synchronized fashion. The rack is actuated using a scotch yoke coupling (modeled using a
Assemble instances of a modularly designed link into a four bar mechanism (crank-rocker type). The Crank and Rocker Links are copies of the same link, with different length, density and
The first step in modeling a rigid body. This model is a simple body (brick) with a frame at each of two ends and a reference frame at the center of mass. The inertia for the body is specified as
A moderately complex mechanical link with a frame at each end and a reference frame at the center. The link has a hole at one end and a peg at the other end. The link is a composite of three simple
This model simulates a five cylinder radial engine. The pressure dynamics inside the cylinders are modelled using the Simscape™ Gas library. The 3D mechanical components are modelled
Assemble instances of a modularly designed link into a double pendulum. The Upper and Lower Links are copies of the same link, with different length, density and color parameters. The links
The correspondence of coordinate frames to connection lines and frame ports. It highlights the Rigid Transform block as the fundamental method to rigidly relate nonidentical frames. The
This model simulates an electrically operated 1-DOF bread slicing mechanism. The electrical motor circuit is modeled in Simscape™ while the bread slicing mechanism is modeled in Simscape
The example shows how you can sense forces and torques acting at joints. A potter's wheel spins with a piecewise linear velocity profile while holding a piece of clay off center. The clay
Illustrates the use of the Lead Screw Joint block to model a linear actuator. The Lead Screw Joint block converts rotational motion at the Revolute Joint block to translational motion at the
Two models of a double pendulum, one using Simulink input/output blocks and one using Simscape Multibody.
A single pendulum modeled using Simulink input/output blocks and using Simscape Multibody. The initial angle for the joint is defined by a MATLAB variable. The annotations on the
A Power Take-Off (PTO) shaft, a device for transferring power from tractor engines to auxilliary equipment such as soil tillers and wood chippers. The model includes two PTO subsystems
This model simulates a barrel cam based wing flapping mechanism. This is based on the mechanism shown in the video www.youtube.com/watch?v=K5kmnHmJZMQ. This is a one degree of freedom
A dump trailer powered by a double-acting hydraulic cylinder. The cylinder actuates a scissor hoist mechanism that raises and lowers the dump bed. The model provides an example of how to
Illustrates the use of the Worm and Gear Constraint block to model a solar tracker. A slew drive containing a worm and gear constraint powers the yaw rotation of the solar trackers. The worm and
This CAD assembly can be opened in SolidWorks® 2007 and later versions.