Simulation and Analysis
Update the block diagram to assemble the model and visualize its initial
configuration. The visualization opens in Mechanics Explorer. Simulate the
model to play an interactive animation. Be sure to pick a solver suited for
physical models, such as
Ode15s, and to specify a
maximum time step small enough to capture the fastest meaningful change
expected during simulation.
Open Camera Manager to add a moving,
dynamic camera with which to capture the animation. Dynamic cameras can be
of two types: keyframed or tracking. Keyframed cameras move between view
points created interactively in Mechanics Explorer. Tracking cameras attach
to and aim at frames in the model. Use Video Creator or the
smwritevideo function to record
an animation in a video format.
class to create a kinematic representation of a model and formulate a
kinematic problem to solve.
contain all the joint variables available in a model. Complement them with
frame variables and assign both joint and frame variables as targets,
guesses, and outputs for analysis.
Representing the Assembly
|Solve kinematics problems for a multibody model|
|Change physical unit of kinematic variable|
|List kinematic variables associated with frame pairs|
|List all kinematic variables assigned as initial guesses|
|List all kinematic variables associated with joint velocities|
|List all kinematic variables associated with joint positions|
|List all kinematic variables assigned as outputs|
|List kinematic variables assigned as targets|
|Create kinematic variables from select frame pair in
|Assign kinematic variables from KinematicsSolver object as guesses|
|Assign kinematic variables from the KinematicsSolver object as outputs|
|Assign kinematic variables from KinematicsSolver object as targets|
|Drop all frame variables from the KinematicsSolver object|
|Drop all guess variables from the KinematicsSolver object|
|Drop all output variables from the KinematicsSolver object|
|Drop all target variables from the KinematicsSolver object|
|Drop select frame variables from the KinematicsSolver object|
|Drop select guess variables from the KinematicsSolver object|
|Drop select output variables from the KinematicsSolver object|
|Drop select target variables from the KinematicsSolver object|
Running the Analysis
|Generate C code to run kinematic analysis on KinematicsSolver object|
|Run kinematic analysis for KinematicsSolver object|
Visualize the Solution of Analysis
- Enable Mechanics Explorer
Set the model configuration parameters to ensure that Mechanics Explorer opens automatically on model update or simulation.
- Manipulate the Visualization Viewpoint
Select a standard view, set the up-axis convention, and use mouse shortcuts to rotate, roll, pan, or zoom a model.
- Update and Simulate a Model
Workflow steps for updating and simulating a Simscape™ Multibody™ model.
- Visualize a Model and Its Components
Visualization is not only a central part of a multibody simulation, but also 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.
- Visualize Simscape Multibody Frames
Use Mechanics Explorer frame highlights and Graphic blocks to visualize frames.
- Go to a Block from Mechanics Explorer
Use Mechanics Explorer to go to the block corresponding to a tree view pane node.
- Selective Model Visualization
Visualization filtering as a means to selectively show and hide solids, bodies, and multibody subsystems in Mechanics Explorer.
- Selectively Show and Hide Model Components
Use selective model visualization to show only those model components that are relevant to you.
Cameras and Video Creation
- Create a Dynamic Camera
Use Camera Manager to create or edit a model visualization camera with a moving viewpoint.
- Create a Model Animation Video
Save an animation in video format using Video Creator or the
- Visualization Cameras
Distinction between dynamic cameras and the global camera. Camera Manager as a tool for creating dynamic cameras. Dynamic camera keyframe and tracking modes.
- Working with Animation
Review how model animations work and explore the basic controls available for animations.
- Multibody Simulation Issues
Learn about Simscape Multibody simulation issues.