| SimMechanics |
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- Using This Guide
- Ways to Get Help Online
- For Further Help and Feedback
- Opening SimMechanics Demos
- Typographical Conventions
- Mechanical Units
- Mechanical Conventions and Abbreviations
- Right-Hand Rule Is Assumed
- Common Abbreviations
- Glossary Terms
- Welcome to Physical Modeling
- What Is SimMechanics?
- What's in This Chapter?
- Related Products
- Requirements for SimMechanics
- Other Related Products
- Running a Demo Model
- What This Demo Illustrates
- Opening the Model
- Starting the Demo
- Modifying the Model
- What Can You Do with SimMechanics?
- Modeling Machines with SimMechanics
- Bodies, Coordinate Systems, Joints, and Constraints
- Sensors and Actuators
- Simulating Mechanical Motion
- Visualizing and Animating Machines
- Introducing the SimMechanics Block Libraries
- Viewing the Blocks
- Creating SimMechanics Models
- Essential Steps to Build a Model
- Essential Steps to Configure and Run a Model
- Building a Simple Pendulum
- The World Coordinate System and Gravity
- Configuring a Ground Block
- Configuring a Body Block
- Configuring a Joint Block
- Adding Sensors and Starting the Simulation
- Visualizing a Simple Pendulum
- Representing the Bodies
- Visualizing with Handle Graphics
- Visualizing with Virtual Reality
- A Four Bar Mechanism
- Configuring the Mechanical Environment Settings
- Setting Up the Block Diagram
- Configuring the Ground and Joint Blocks
- Configuring the Body Blocks
- Sensing Motion and Running the Model
- Summary of Technical Vocabulary
- Modeling Machines
- About SimMechanics Models
- Creating a SimMechanics Model
- Connecting SimMechanics Blocks
- Interfacing SimMechanics Blocks to Simulink Blocks
- Setting SimMechanics Block Properties at the Command Line
- Creating SimMechanics Subsystems
- Creating Custom SimMechanics Blocks with Masks
- Modeling Bodies
- Modeling Grounds
- Modeling Finite Rigid Bodies
- Working with Body Coordinate Systems
- Modeling Joints
- About Joints
- Creating a Joint
- Modeling with Massless Connectors
- Modeling with Disassembled Joints
- Cutting Closed Loops
- Modeling Constraints and Drivers
- Directionality of Constraints and Drivers
- Solving Constraints
- Restrictions on Using Constraint and Driver Blocks
- Constraint Example: Gear Constraint
- Driver Example: Using the Angle Driver
- Modeling Actuators
- Actuating a Body
- Actuating a Joint
- Actuating a Driver
- Specifying Initial Positions and Velocities
- Modeling Sensors
- Sensing Body Motions
- Sensing Joint Motions and Forces
- Sensing Constraint Reaction Forces
- Modeling Sensor-Actuator Feedback
- Checking Model Validity
- Checking Schematic Topology
- Counting Degrees of Freedom
- Choosing Simulation Options
- Choosing an Analysis Mode
- Choosing an ODE Solver
- Setting Assembly Tolerances
- Choosing a Constraint Solver
- Mechanical Environment Settings Dialog Box
- Parameters Pane
- Constraints Pane
- Linearization Pane
- Visualization Pane
- Finding Forces from Motions
- Closed-Loop Example: Four-Bar System
- Open-Topology Example: Double Pendulum
- Trimming Mechanical Systems
- Unconstrained Example: Spring-Loaded Double Pendulum
- Constrained Example: Four-Bar System
- Linearizing SimMechanics Models
- Model Linearization Example: Double Pendulum
- How SimMechanics Works
- Model Validation
- Machine Initialization
- Force Analysis and Motion Integration
- Stiction Mode Iteration
- Troubleshooting Simulation Errors
- Data Validation Errors
- Ground and Body Geometry Errors
- Joint Geometry Errors
- Block Connection and Topology Errors
- Motion Singularity and Inconsistency Errors
- Analysis Mode Errors
- SimMechanics Limitations
- Accelerator Mode Restrictions
- Choosing Visualization Options in SimMechanics
- Uses of the SimMechanics Visualization Tools
- Setting Up Static and Dynamic Visualization
- Rendering Body Shapes in SimMechanics
- Choosing the Body Shape
- Equivalent Ellipsoids
- Convex Hulls
- Viewing Machines with Handle Graphics
- Interpreting Special Handle Graphics Symbols
- Manipulating the Handle Graphics Window
- Viewing Machines in Virtual Reality
- Interpreting Special Virtual Reality Symbols
- Changing the Observer's Viewpoint
- Creating a Custom Machine Visualization
- Creating Virtual Worlds for SimMechanics Models
- Interfacing SimMechanics with Virtual Worlds
- Blocks - By Category
- Creating Bodies and Grounds
- Creating Joints
- Creating Constraints and Drivers
- Creating Actuators and Sensors
- Additional Useful Blocks
- Blocks - Alphabetical List
- Commands - Alphabetical List
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