Documentation

SimMechanics Blocks

SimMechanics First Generation

Block Libraries

Machines, Bodies and Grounds

Body Rigid body with frames, inertia and geometry
Ground Fixed point attached to world
Machine Environment Mechanical simulation parameters of a machine
Shared Environment Utility that connects two independent machines in a single mechanical environment

Joints

Assembled Joints
Bearing Joint with three revolute and one prismatic joint primitives
Bushing Joint with three revolute and three prismatic joint primitives
Custom Joint Joint with custom combination of prismatic, revolute, and spherical joint primitives
Cylindrical Joint with one revolute and one prismatic joint primitives
Gimbal Joint with three revolute joint primitives
In-Plane Joint with two coplanar prismatic joint primitives
Planar Joint with one revolute and two prismatic joint primitives
Prismatic Primitive joint with one translational degree of freedom
Revolute Primitive joint with one rotational degree of freedom
Screw Joint with coupled rotational and translational degrees of freedom
Six-DoF Joint with three revolute and three prismatic joint primitives
Spherical Primitive joint with three rotational degrees of freedom
Telescoping Joint with three revolute and one prismatic joint primitives
Universal Joint with two revolute joint primitives
Weld Joint with zero degrees of freedom
Disassembled Joints
Disassembled Cylindrical Joint with misaligned base and follower axes containing one revolute and one prismatic joint primitives
Disassembled Prismatic Primitive joint with misaligned base and follower axes containing one translational degree of freedom
Disassembled Revolute Primitive joint with misaligned base and follower axes containing one rotational degree of freedom
Disassembled Spherical Primitive joint with misaligned base and follower axes containing three rotational degrees of freedom
Massless Connectors
Revolute-Revolute Constant-length joint connector with two spatially separated revolute axes
Revolute-Spherical Constant-length joint connector with spatially separated revolute axis and spherical pivot point
Spherical-Spherical Constant-length joint connector with two spatially separated spherical pivot points

Constraints and Drivers

Angle Driver Driver specifying a time-dependent angle between two body axis vectors
Distance Driver Time-dependent distance between two body coordinate systems
Gear Constraint Constraint that restricts body motion to rotation along tangent circles
Linear Driver Time-dependent signal of a vector position component between two body coordinate systems
Parallel Constraint Constant parallel relationship between two body axis vectors
Point-Curve Constraint Constraint that restricts body motion to a specified path
Velocity Driver Linear and angular velocity components of base and follower body coordinate systems

Actuators and Sensors

Body Actuator Time-dependent force and torque used to actuate a body
Body Sensor Body translation and rotation sensor
Constraint & Driver Sensor Sensor used to measure the reaction force and torque between two constrained or driven bodies
Driver Actuator Time-dependent motion input for driver blocks
Joint Actuator Time-dependent force, torque, or motion input to a joint
Joint Initial Condition Actuator Initial joint position and velocity
Joint Sensor Joint force, torque, and motion sensor
Joint Stiction Actuator Joint static and kinetic friction
Variable Mass & Inertia Actuator Time-dependent mass and inertia parameters

Force Elements

Body Spring & Damper Damped linear oscillator force between two bodies
Joint Spring & Damper Damped linear oscillator force or torque acting on a joint

Interface Elements

Prismatic-Translational Interface Connection interface between prismatic primitive and Simscape mechanical translational elements
Revolute-Rotational Interface Connection interface between revolute primitive and Simscape mechanical rotational elements

Utilities

Continuous Angle Utility that converts a discontinuous bounded angle into a continuous unbounded angle
Mechanical Branching Bar Utility that maps multiple sensor and actuation signals into a single connection line
RotationMatrix2VR Utility that transforms 3x3 rotation matrix into rotation axis-angle 4-vector
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