SimMechanics

Modeling Mechanical Systems

SimMechanics gives you a complete set of block libraries for modeling machine parts and connecting them into a Simulink block diagram.

Modeling Machines
How to create a valid mechanical model with SimMechanics and Simulink

Modeling Bodies
How to represent the machine environment and the mass and geometric properties of bodies

Modeling Joints
How to represent degrees of freedom as joints

Modeling Constraints and Drivers
How to represent time-independent and time-dependent constraints on relative body motions

Modeling Actuators
How to apply forces, motions, and initial conditions to machines

Modeling Sensors
How to measure motions and forces in machines and create feedback loops to model internal forces

Checking Model Validity
Special restrictions and requirements for block diagram models with SimMechanics blocks

If you need more information on mechanics and rigid body dynamics, consult the physics and engineering literature, beginning with the Selected Bibliography. Classic engineering mechanics texts include Goodman and Warner [4], [5] and Meriam [11]. The books of Goldstein [3] and José and Saletan [7] are more theoretically oriented.

Summary of Technical Vocabulary Modeling Machines

Modeling Machines	How to create a valid mechanical model with SimMechanics and Simulink
Modeling Bodies	How to represent the machine environment and the mass and geometric properties of bodies
Modeling Joints	How to represent degrees of freedom as joints
Modeling Constraints and Drivers	How to represent time-independent and time-dependent constraints on relative body motions
Modeling Actuators	How to apply forces, motions, and initial conditions to machines
Modeling Sensors	How to measure motions and forces in machines and create feedback loops to model internal forces
Checking Model Validity	Special restrictions and requirements for block diagram models with SimMechanics blocks