Select the type of joint between a multibody system and the world with a variable from the workspace

In Simulink, using Simscape blocks, I have a multibody system that is joined to the world with a six degrees of freedom joint. My doubt is: How can I join the system with the world using two joints (6-DOF and a planar joint) and selecting with a workspace variable which joint is going to be active.

Answer 1

[Steve Miller]

The most common way to do this is using Variant Subsystems.

You add a Variant Subsystem to your model. Inside that Variant Subsystem, you put two subsystems where each subsystem contains the joint you wish to conditionally enable. Follow the steps from the documentation to specify objects in the Workspace to control which is active.

Another option is to use Comment Out, but this will require a MATLAB function to look at your workspace variable and comment out the block you do not want.

--Steve