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Getting Started with Simscape Multibody

Model and simulate multibody mechanical systems

Simscape™ Multibody™ provides a multibody simulation environment for 3D mechanical systems, such as robots, vehicle suspensions, construction equipment, and aircraft landing gear. You can model multibody systems using blocks representing bodies, joints, constraints, force elements, and sensors. Simscape Multibody formulates and solves the equations of motion for the complete mechanical system. You can import complete CAD assemblies, including all masses, inertias, joints, constraints, and 3D geometry, into your model. An automatically generated 3D animation lets you visualize the system dynamics.

Simscape Multibody helps you develop control systems and test system-level performance. You can parameterize your models using MATLAB® variables and expressions, and design control systems for your multibody system in Simulink®. You can integrate hydraulic, electrical, pneumatic, and other physical systems into your model using components from the Simscape family of products. To deploy your models to other simulation environments, including hardware-in-the-loop (HIL) systems, Simscape Multibody supports C-code generation.

Tutorials

  • Start a Model from a Template

    Start a model from a template with commonly used blocks and suitable solver settings.

  • Model a Simple Link

    Model a simple body with solid properties and connection frames parameterized in terms of MATLAB variables.

  • Model a Simple Pendulum

    Model a basic multibody system comprising a simple body and a revolute joint.

  • Analyze a Simple Pendulum

    Apply forces and torques to a basic multibody model. Sense motion variables at joints and visualize these variables using MATLAB plots.

About Multibody Modeling

  • Multibody Model Anatomy

    Basic components of a Simscape Multibody model

  • Creating a Multibody Model

    Simscape Multibody modeling workflow

  • Working with Frames

    Frames are axis triads that encode the position and orientation of body elements in a body. Learn about frames as a means to connect body elements and about rigid transforms as a means to offset those elements.

  • Modeling Bodies

    Bodies are representations that you create of physical parts—gears, pistons, levers—for later assembly into multibody systems, a piston engine serving as an example. Here is an introduction to bodies as well as the blocks and tools commonly used to represent one in a model.

  • Modeling Joint Connections

    Role of joints in a multibody model. Joints as systems of joint primitives with elementary degrees of freedom. Accounting for the effects of joint inertia in a model.

  • Visualize a Model and Its Components

    Visualization is not only a central part of a multibody simulation, it is an essential tool in modeling bodies and verifying their shapes, sizes, frame placements, and colors. Here is an overview of the visualization utilities available in the Simscape Multibody environment and the roles they play in your modeling workflow.