Mechanism-wide gravity and simulation parameters
Simscape / Multibody / Utilities
The Mechanism Configuration block specifies the gravity and simulation parameters of the mechanism to which the block connects. The simulation parameters include the perturbation value for computing numerical partial derivatives during linearization and the iteration number for the joint mode transition.
A Simscape™ Multibody™ network can have at most one instance of the Mechanism Configuration block. If a model does not have the Mechanism Configuration block, the uniform gravity applied to the mechanism is zero.
If a Simscape
Multibody network contains a Gravitational
Field block, set the Uniform Gravity parameter of the
Mechanism Configuration block to
C — Port to connect mechanism
Port to use to connect the mechanism. The settings of the Mechanism Configuration block apply only to the mechanism to which the block connects.
g — Uniform gravity
Uniform gravity of the mechanism to which the Mechanism Configuration block connects.
To enable this port, set Uniform Gravity to
Uniform Gravity — Method to specify gravitational acceleration vector
Constant (default) |
Method used to calculate the uniform gravity for the mechanism to which the Mechanism Configuration block connects, specified as one of these options:
|Use the Gravity parameter to specify the gravitational acceleration vector that remains constant in space and in time.
|Use the physical port g to specify the gravitational acceleration vector that remains constant in space but varies in time.
|Specify zero uniform gravity for the mechanism. This option must be used if the Simscape Multibody network contains a Gravitational Field block.
Gravity — Constant gravitational acceleration vector
[0 0 –9.80665]
m/s^2 (default) | 1-by-3 vector
Constant gravitational acceleration vector, specified as a 1-by-3 vector, [gx gy gz]. The block resolves the vector in the world frame of the mechanical system.
To enable this parameter, specify Uniform Gravity to
Linearization Delta — Perturbation value for linearization
0.001 (default) | positive scalar
Nonlinear Iterations — Number of Newton iterations for joints transitioning from disengaged to normal mode
2 (default) | positive integer
Number of Newton iterations to use for solving the positions of all the joints in the mechanism when the mechanism has one or more joints that transition from disengaged to normal mode, specified as a positive integer.
When a joint transitions from disengaged to normal mode, if that joint has large discrepancies in its location and orientation, the Simscape Multibody network may need a larger number of iterations to compute the required positions of all joints in the mechanism that satisfy the kinematic constraints of that transitioning joint.
C/C++ Code Generation
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Introduced in R2012a