Documentation

Simscape Multibody Simscape Blocks

Alphabetical List By Category

Multibody Modeling

Bodies

GraphicMarker with graphic properties
InertiaMass element with fixed inertial properties
SolidSolid element with geometry, inertia, and color
General Variable MassMass element with variable inertial properties
Variable Brick SolidSolid brick with variable mass and size
Variable Cylindrical SolidSolid cylinder with variable mass and size
Variable Spherical SolidSolid sphere with variable mass and size
SplineCubic interpolating plane curve or space curve
Reference FrameNon-inertial reference frame
Rigid TransformFixed spatial relationship between frames

Assembly

Prismatic JointJoint with one prismatic primitive
Revolute JointJoint with one revolute primitive
Spherical JointJoint with one spherical primitive
Weld JointJoint with zero primitives
6-DOF JointJoint with one spherical and three prismatic primitives
Bearing JointJoint with one prismatic and three revolute primitives
Bushing JointJoint with three prismatic and three revolute primitives
Cartesian JointJoint with three prismatic primitives
Cylindrical JointJoint with one prismatic and one revolute primitives possessing parallel motion axes
Gimbal JointJoint with three revolute primitives
Pin Slot JointJoint with one prismatic and one revolute primitives possessing mutually orthogonal motion axes
Planar JointJoint with one revolute and two prismatic primitives
Rectangular JointJoint with two prismatic primitives
Telescoping JointJoint with one prismatic and one spherical joint primitive
Universal JointJoint with two revolute primitives
Constant Velocity JointJoint with two rotational DoFs between shafts constrained to spin with equal velocity
Lead Screw JointJoint with coupled rotational and translational degrees of freedom
Bevel Gear ConstraintKinematic constraint between two bevel gear bodies with angled intersecting rotation axes
Common Gear ConstraintKinematic constraint between two coplanar spur gear bodies with parallel rotation axes
Rack and Pinion ConstraintKinematic constraint between a translating rack body and a rotating pinion body
Worm and Gear ConstraintKinematic constraint between worm and gear bodies with perpendicular non-intersecting rotation axes
Angle ConstraintFixed angle between two frame Z axes
Distance ConstraintFixed distance between two frame origins
Point On Curve ConstraintKinematic constraint between a frame origin and a curved path
Rigid TransformFixed spatial relationship between frames
World FrameInertial reference frame

Dynamics

External Force and TorqueGeneral force and torque arising outside the modeled system
Gravitational FieldField of force due to point mass
Internal ForceGeneral force acting reciprocally between two frame origins
Inverse Square Law ForceForce proportional to the inverse square distance between two frame origins
Spring and Damper ForceForce proportional to the distance and relative velocity between two frame origins
Rigid TransformFixed spatial relationship between frames
Transform SensorSensor that measures the spatial relationship between two frames
Mechanism ConfigurationMechanism-wide simulation and mechanical parameters
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