Assembly

Assemble instances of a modularly designed link into a double pendulum. The Upper and Lower Links are copies of the same link, with different length, density and color parameters. The links are reused from the sm_compound_body example. The double pendulum starts at an initial state and moves under the influence of gravity.

Assemble instances of a modularly designed link into a four bar mechanism (crank-rocker type). The Crank and Rocker Links are copies of the same link, with different length, density and color parameters. The links are reused from the sm_compound_body example. The Connector link is a slightly modified version of the same link. The four bar starts at an initial state and moves under the influence of gravity.

Models a block and tackle with four pulleys. Torque is applied to a winch which acts through the pulley mechanism to lift a load. Blocks from the Simscape Multibody Belts and Cables library are used to model the block and tackle.

Models an XY positioning table that uses a cable-driven mechanism. A single cable wraps around seven different pulleys and converts the rotational angle of the two input pulleys to the x-y position of the table.

Models a cable robot. The robot comprises 8 independent belt-cable circuits which control the 6 degrees-of-freedom of the mover. A ball is dropped from a fixed height down the center axis of the mechanism. The mover initially starts directly below the ball and the contact is modeled between the mover and the ball such that the ball bounces elastically when striking the mover. The objective of the mover is to perform increasingly complex maneuvers between successive bounces of the ball. The mover is motion actuated from which the necessary cable, pulley, and motor spool kinematics are computed.

Constructs a four bar mechanism in MATLAB using Simscape Multibody. It demostrates various classes under simscape.multibody.* package to build a multibody system in MATLAB.

Highlights key concepts and recommended steps for building a mechanical model using Simscape™ Multibody™. A simple design problem has been chosen to serve this purpose. The following section describes the design problem and subsequent sections discuss how to solve it.

A Power Take-Off (PTO) shaft, a device for transferring power from tractor engines to auxiliary equipment such as soil tillers and wood chippers. The model includes two PTO subsystems identical in every sense but their joints. One contains universal (U) joints, the other constant-velocity (CV) joints.

Models a pulley mechanism that takes a torque applied to a winch and transmits it to a pulley rotated at 90 degrees to that winch. This example uses blocks from the Simscape Multibody Belts and Cables library to model a pulley mechanism that is not all in a single plane.

Illustrates the use of the Lead Screw Joint block to model a linear actuator. The Lead Screw Joint block converts rotational motion at the Revolute Joint block to translational motion at the four Cylindrical Joint blocks. The translational motion is specified as a motion input to a cylindrical joint and the necessary actuator torque is automatically computed at the revolute joint.

The Cardan Gear mechanism that converts rotational motion into reciprocating linear motion without using linkages or slideways. The mechanism uses three gears - one sun and two planet gears. The sun gear is twice as large as the planet gears (which are of the same size). The red pointer on the link traces a straight line as the gears rotate.

A windshield wiper mechanism. The mechanism utilizes a rack and pinion to drive the wiper blades in a synchronized fashion. The rack is actuated using a scotch yoke coupling (modeled using a pin-slot joint) that converts the rotary motion of the motor to reciprocating motion of the rack. The rack and pinion arrangement converts the reciprocating linear motion of the rack into reciprocating angular motion of the wiper blades (which are rigidly attached to the pinion).

Illustrates the use of the Worm and Gear Constraint block to model a solar tracker. A slew drive containing a worm and gear constraint powers the yaw rotation of the solar trackers. The worm and gear geometry gives a large reduction in a single stage of gearing which provides precision tracking and high torque output. The yaw rotation is specified as a motion input to the gear revolute joint and the necessary actuator torque is automatically computed at the worm revolute joint.

Models a pair of gears with parallel axes. The assembly contains the two gears and all constraints required for the gear set. The assembly can be configured to model an external or internal gear set by adjusting parameters in the mask.

This model simulates a barrel cam based wing flapping mechanism. This is based on the mechanism shown in the video www.youtube.com/watch?v=K5kmnHmJZMQ. This is a one degree of freedom mechanism and the two wings flap in sync with each other. The Spline and Point On Curve blocks have been used to model the Barrel Cam mechanism that actuates the flapping motion of the wings.

A rotating arm that raises up a ball, drops the ball, and catches the ball in one cycle of rotation.