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User’s Guide
Version 2
SimMechanics
For Use with Simulink
®
mech_pdf.book Page 1 Thursday, October 24, 2002 1:32 PM
How to Contact The MathWorks:
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For contact information about worldwide offices, see the MathWorks Web site.
SimMechanics User’s Guide
COPYRIGHT 2001-2002 by The MathWorks, Inc.
The software described in this document is furnished under a license agreement. The software may be used
or copied only under the terms of the license agreement. No part of this manual may be photocopied or repro-
duced in any form without prior written consent from The MathWorks, Inc.
FEDERAL ACQUISITION: This provision applies to all acquisitions of the Program and Documentation by
or for the federal government of the United States. By accepting delivery of the Program, the government
hereby agrees that this software qualifies as "commercial" computer software within the meaning of FAR
Part 12.212, DFARS Part 227.7202-1, DFARS Part 227.7202-3, DFARS Part 252.227-7013, and DFARS Part
252.227-7014. The terms and conditions of The MathWorks, Inc. Software License Agreement shall pertain
to the government’s use and disclosure of the Program and Documentation, and shall supersede any
conflicting contractual terms or conditions. If this license fails to meet the government’s minimum needs or
is inconsistent in any respect with federal procurement law, the government agrees to return the Program
and Documentation, unused, to MathWorks.
MATLAB, Simulink, Stateflow, Handle Graphics, and Real-Time Workshop are registered trademarks, and
TargetBox is a trademark of The MathWorks, Inc.
Other product or brand names are trademarks or registered trademarks of their respective holders.
Printing History: December 2001 Online only Version 1 (Release 12.1+)
July 2002 First printing Revised for Version 1.1 (Release 13)
November 2002 Online only Revised for Version 2.0 (Release 13+)
mech_pdf.book Page 2 Thursday, October 24, 2002 1:32 PM
i
Contents
About This Guide
Using This Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . x
Getting Online Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
For Further Help and Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . xii
Opening SimMechanics Demos . . . . . . . . . . . . . . . . . . . . . . . . . xiii
Typographical Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
Mechanical Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv
Mechanical Conventions and Abbreviations . . . . . . . . . . . . . xvi
Right-Hand Rule Is Assumed . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi
Vector Multiplication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi
Common Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi
Glossary Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi
1
Introducing SimMechanics
Welcome to SimMechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
SimMechanics and Physical Modeling . . . . . . . . . . . . . . . . . . . . 1-2
What’s in This Chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Related Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Requirements for SimMechanics . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Other Related Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Running a Demo Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
What This Demo Illustrates . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
mech_pdf.book Page i Thursday, October 24, 2002 1:32 PM
ii Contents
Opening the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Starting the Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Modifying the Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
What Can You Do with SimMechanics? . . . . . . . . . . . . . . . . . 1-17
Modeling Machines with SimMechanics . . . . . . . . . . . . . . . . . 1-17
Bodies, Coordinate Systems, Joints, and Constraints . . . . . . . 1-18
Sensors, Actuators, and Force Elements . . . . . . . . . . . . . . . . . 1-19
Simulating Mechanical Motion . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
Visualizing and Animating Machines . . . . . . . . . . . . . . . . . . . . 1-21
2
Building and Visualizing Simple Machines
Introducing the SimMechanics Block Libraries . . . . . . . . . . 2-2
Viewing the Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Creating SimMechanics Models . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Essential Steps to Build a Model . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Essential Steps to Configure and Run a Model . . . . . . . . . . . . . 2-9
Building a Simple Pendulum . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
The World Coordinate System and Gravity . . . . . . . . . . . . . . . 2-12
Configuring a Ground Block . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
Configuring a Body Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Configuring a Joint Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
Adding Sensors and Starting the Simulation . . . . . . . . . . . . . . 2-24
Visualizing a Simple Pendulum . . . . . . . . . . . . . . . . . . . . . . . 2-30
Representing the Bodies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
Visualizing with Handle Graphics . . . . . . . . . . . . . . . . . . . . . . 2-32
Visualizing with Virtual Reality . . . . . . . . . . . . . . . . . . . . . . . . 2-34
A Four Bar Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36
Configuring the Mechanical Environment Settings . . . . . . . . 2-38
Setting Up the Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
Configuring the Ground and Joint Blocks . . . . . . . . . . . . . . . . 2-43
mech_pdf.book Page ii Thursday, October 24, 2002 1:32 PM
iii
Configuring the Body Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-47
Sensing Motion and Running the Model . . . . . . . . . . . . . . . . . 2-52
3
Understanding Mechanical Concepts
Representing Body Positions and Orientations . . . . . . . . . . 3-2
Reference Frames and Coordinate Systems . . . . . . . . . . . . . . . . 3-2
Relating Moving Coordinate Systems . . . . . . . . . . . . . . . . . . . . . 3-3
Observing Motion in Different Coordinate Systems . . . . . . . . . 3-4
Observing a Translating, Rotating Rigid Body . . . . . . . . . . . . . 3-6
How SimMechanics Represents Body Rotations . . . . . . . . . . . . 3-7
Kinematics and the Machine State . . . . . . . . . . . . . . . . . . . . . . . 3-9
Summary of Technical Vocabulary . . . . . . . . . . . . . . . . . . . . 3-11
4
Modeling Mechanical Systems
Modeling Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
About SimMechanics Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Creating a SimMechanics Model . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Connecting SimMechanics Blocks . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Interfacing SimMechanics Blocks to Simulink Blocks . . . . . . . 4-5
Setting SimMechanics Block Properties at the Command Line 4-5
Creating SimMechanics Subsystems . . . . . . . . . . . . . . . . . . . . . 4-5
Creating Custom SimMechanics Blocks with Masks . . . . . . . . . 4-7
Modeling Bodies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Modeling Grounds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Modeling Finite Rigid Bodies . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
Working with Body Coordinate Systems . . . . . . . . . . . . . . . . . 4-12
mech_pdf.book Page iii Thursday, October 24, 2002 1:32 PM
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