Documentation

SimMechanics Simscape Blocks

Multibody Modeling

Spatial Relationships

Reference Frame Non-inertial reference frame
Rigid Transform Time-invariant rotation and translation transforms between two frames
World Frame Inertial reference frame

Rigid Bodies

Graphic Visual marker with graphic properties
Inertia Inertial properties of a solid or mass disturbance
Solid Rigid solid with geometry, inertia, and color

Multibody Systems

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
Angle Constraint Fixed angle between two frame Z axes
Distance Constraint Fixed distance between two frame origins
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

Internal Mechanics, Actuation and Sensing

External Force and Torque General force and torque arising outside the modeled system
Gravitational Field Field of force due to point mass
Internal Force General force acting reciprocally between two frame origins
Inverse Square Law Force Force proportional to the inverse square distance between two frame origins
Spring and Damper Force Force proportional to the distance and relative velocity between two frame origins
Transform Sensor Sensor that measures the spatial relationship between two frames
Mechanism Configuration Mechanism-wide simulation and mechanical parameters
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