SimMechanics    

Creating Bodies and Grounds
Body
 Customizable rigid body
Ground
 Immobile point at rest in World

Creating Joints

Creating Assembled Joints
Bearing
 Composite: one prismatic, three revolutes
Bushing
 Composite: three prismatics, three revolutes
Custom Joint
 Customizable composite joint: up to three translational and three rotational DoFs
Cylindrical
 Composite: one prismatic, one revolute (axes aligned)
Gimbal
 Composite: three revolutes
In-Plane
 Composite: two prismatics
Planar
 Composite: two prismatics, one revolute
Prismatic
 Primitive: one translational DoF
Revolute
 Primitive: one rotational DoF
Screw
 Composite: one prismatic, one revolute (constrained)
Six-DoF
 Composite: three prismatics, one spherical
Spherical
 Primitive: three rotational DoFs at pivot
Telescoping
 Composite: one prismatic, one spherical
Universal
 Composite: two revolutes
Weld
 Primitive: no DoFs (rigid)

Creating Disassembled Joints
Disassembled Cylindrical
 Misaligned translational-rotational DoFs
Disassembled Prismatic
 Misaligned translational DoF
Disassembled Revolute
 Misaligned rotational DoF
Disassembled Spherical
 Dislocated spherical DoF

Creating Massless Connectors
Revolute-Revolute
 Composite: revolute separated revolute
Revolute-Spherical
 Composite: revolute separated spherical
Spherical-Spherical
 Composite: spherical separated spherical

Creating Constraints and Drivers
Angle Driver
 Specify angle between two body axes as function of time
Distance Driver
 Specify distance between two body CS origins as function of time
Gear Constraint
 Constrain two bodies rotating along two tangent pitch circles
Linear Driver
 Specify vector component between two Body CS origins as function of time
Parallel Constraint
 Constrain two body axes to be parallel
Point-Curve Constraint
 Constrain motion of one body along curve on another body
Velocity Driver
 Specify projected linear and angular velocities of two bodies as a function of time

Creating Actuators and Sensors
Body Actuator
 Apply force/torque or motion to a body
Body Sensor
 Measure body motion
Constraint & Driver Sensor

Measure constraint force/torque between pair of constrained bodies
Driver Actuator
 Apply motion to pair of constrained bodies
Joint Actuator
 Apply force/torque or motion to a joint primitive
Joint Initial Condition Actuator

Apply initial position and velocity to joint primitive
Joint Sensor

Measure joint motion and force/torque
Joint Stiction Actuator
 Apply friction to joint primitive

Additional Useful Blocks
Connection Port
 Connector Port for a subsystem
Continuous Angle
 Convert bounded angular signals to unbounded signals
RotationMatrix2VR

Convert rotation matrix to rotation axis and angle


  SimMechanics Block Reference Blocks - Alphabetical List