MATLAB SIMMECHANICS 3 - VISUALIZATION AND IMPORT GUIDE Manual do Utilizador Página 1

SimMechanics™Getting Started GuideR2013b

1 Introduction to SimMecha nic s ™ Softwar eSublibraryDescriptionBody ElementsRepresent the solid properties of arigid bodyConstraints Constrain the r

Start New Multibody ModelStar t N ew Multibody ModelYou can start a new multibody model from the M ATLAB command line. To dothis, entersmnew. A new mo

1 Introduction to SimMecha nic s ™ Softwar eMultibody Model AnatomyIn this section...“Basic Model Components” on page 1-8“Applying Forces and Torques”

Multibody M odel AnatomyWhile important, rigid body subsystem and joint blocks are not sufficientto represent the four-bar linkage. Other blocks serve

1 Introduction to SimMecha nic s ™ Softwar eBlockPurposeWorld FrameProvides the ultimate referenceframe in a model. All remainingframes are defined wi

Multibody M odel Anatomyrelationships between the three solids. You use them to position the peg andhole sections at the ends o f the main section.App

1 Introduction to SimMecha nic s ™ Softwar eTo represent forces and torques acting at a joint, SimMechanics provides aselection of actuation inputs in

Multibody M odel AnatomySensing M otionYou can sense motion betw een two arbitrary rigid body frames. For this task,SimMechanics provides the Transfor

1 Introduction to SimMecha nic s ™ Softwar eTo sense motion directly between two rigid bo dy frames connected at a joint,SimMechanics provides a selec

Multibody M odel Anatomyfigure shows ho w you can se nse the angular position of the coupler-rockerrevolute joint directly from the joint block.Relate

How to Contact MathWorkswww.mathworks.comWebcomp.soft-sys.matlab Newsgroupwww.mathworks.com/contact_TS.html Technical [email protected] Pro

1 Introduction to SimMecha nic s ™ Softwar eMultibody Modeling WorkflowIn this section...“Model Rigid Bodies” on page 1-16“Assemble M ultibody Model”

Multibody Modeling Workflow• Compound — Rigidly connect multiple Solid blocks to model the rigid body.Compound rigid bodies require more tim e to mode

1 Introduction to SimMecha nic s ™ Softwar eA complete rigid body subsystem contains the following:• Frames — Construct with position and orientation

Multibody Modeling WorkflowAdd Geometry, Inertia, and Graphic PropertiesTo add geometry, inertia, and graphic properties to a rigid body, you use theS

1 Introduction to SimMecha nic s ™ Softwar eIn the Inertia menu of the Solid dialog box, you can specify the density if thelink material — e.g.2.70 g/

Multibody Modeling WorkflowAssemble Multibody ModelOnce you have created the rigid body subsystems, you can assemble thesubsystems intoa mechanism or

1 Introduction to SimMecha nic s ™ Softwar ePrismatic Primitives01232UniversalJoint———3GimbalJointBearingJoint—6–DOFJointSphericalPrimitives1Spherical

Multibody Modeling Workflow1-23

1 Introduction to SimMecha nic s ™ Softwar eSpecify Joint State Tar getsTo specify the initial configuration of a multibody assembly, u se the StateTa

Multibody Modeling WorkflowProcedure column identifies the steps requ ired to add each force/torquetype to a model.Force/Torque TypeDescriptionProcedu

ContentsIntroduction to SimMechanics Software1SimMechanics Product Description...1-2Key Features... 1-

1 Introduction to SimMecha nic s ™ Softwar eForce/Torque TypeDescriptionProcedure3 Connect a physicalsignal line to eachexposed physicalsignal port.Ri

Multibody Modeling WorkflowSensing DescriptionProcedureaccelerationparameters of onerigid body f rame withrespect to any otherframe in a modelblock to

1 Introduction to SimMecha nic s ™ Softwar eSimulate and Analyze modelRun the simulation to examine the dynamic behavior of the model. Simulinkprovide

Multibody Modeling Workflow• Check the solv er step sizes and tolerances. S malle r values for bothparameters produce more accurate results at the cos

1 Introduction to SimMecha nic s ™ Softwar e1-30

Multibody Modeling WorkflowDuring simulation, you can open any scope blocks in the model to examinethe dynamic behavior of the model. The following fi

1 Introduction to SimMecha nic s ™ Softwar eModel Sim ple LinkIn this section...“Model O verview ” on page 1 -32“Build Model” on page 1-33“Generate Su

Model Simple LinkBuild Model1 At the MATLAB command line, e ntersmnew. The SimM echanics blocklibrary and a new m odel open up.2 In the model, copy th

1 Introduction to SimMecha nic s ™ Softwar eParameterValueGeometry > Dimensions[L W H] cmInertia > Densityrho kg/m^3Graphic > VisualPropertie

Model Simple Link3 Click the Subsystem block and press Ctrl+M to create a subsystem mask.4 In the Para me ters & D ialog tab of the Mask Editor wi

Model Pendulum ... 1-37Model Overview... 1-37Build Model...

1 Introduction to SimMecha nic s ™ Softwar eSave ModelTo use it in later tutorials, save the link subsystem as a custom library block.Name the block L

Model PendulumModel PendulumIn this section...“Model O verview ” on page 1 -37“Build Model” on page 1-38“Specify Gravity” on page 1-39“Add Motion Sens

1 Introduction to SimMecha nic s ™ Softwar eBuild Model1 At the MATLAB command line, e ntersmnew. The SimM echanics blocklibrary and a new m odel open

Model Pendulum6 In the Solid block dialog box, specify these parameters.ParameterValueGeometry > Dimensions[4 4 4] cmGraphic > VisualProperties

1 Introduction to SimMecha nic s ™ Softwar eAdd Motion SensingFor model analysis, you can s en se joint motion d irectly from th e joint block.In this

Model PendulumGuide Model AssemblySet the initial angle at the revolute joint between the link and the fixed pivot.1 Double-click the Revolute Joint b

1 Introduction to SimMecha nic s ™ Softwar e3 Simulate the model. Mechanics Explorer play s a 3-D animation of themodel simulation.4 Double-click the

Model PendulumSave ModelSo that you can reuse the simple pendulum model, save it as simple_pendulumin a convenient folder.1-43

1 Introduction to SimMecha nic s ™ Softwar eModeling with SimMechanics First and Second GenerationsSimMechanics software contains two technologies: Fi

Modeling with SimMechanics™ First and Second Generations1Point-curve, Gear, Velocity, and Screw constraints2CAD update supported only in SimM echanics

1Introduction toSimMechanics Software• “SimMechanics Product Description” on page 1-2• “Required and Related Products” on page 1-3• “Representing Mach

1 Introduction to SimMecha nic s ™ Softwar eSimMechanics Product DescriptionModel and simulate multibo dy mechanica l systemsSimMechanics™provides a m

Required and Related ProductsRequired and Related ProductsIn this section...“SimMechanics Visualization Requirements” on page 1-3“Support for Recorded

1 Introduction to SimMecha nic s ™ Softwar eyou a set of block libraries with which you can model common componentsfound in industry and academia: rig

Representing Machines with SimMechanics™ BlocksRepresenting Machines with SimMechanics BlocksTo model a 3-D multibody system, you use the SimMechanics