How to calculate the common center of mass position of multiple rigid bodies in Simscape Multibody?

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How to calculate the common center of mass position of multiple rigid bodies in Simscape Multibody?
I think it is possible to get the position of the center of mass of each rigid body and then calculate the overall center of mass by weighting, but this is very complicated. Is there a more convenient method?
  2 Comments
Juan Sagarduy
Juan Sagarduy on 11 Nov 2020
Good insight Vasco,
Indeed the Inertia Sensor works well for Jingchiao's query. I attach an example with two masses. When density of one is very high, the centre of mass is in the centre of the heavy body. And viceversa.
Br Juan

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Accepted Answer

Steve Miller
Steve Miller on 2 Jun 2021
As Vasco mentioned above, the Inertia Sensor block was created for this purpose.
From Vasco's Comment above:
Hi there
have you taken a look at the inertia sensor block?
it was introduced in 2019b
this should provide a fairly straightforward way to get center of mass, as well as:
  • Mass
  • Center of mass
  • Inertia matrix
  • Centered inertia matrix
  • Principal inertia matrix
  • Orientation of principal inertia frame

More Answers (1)

Moritz Ischebeck
Moritz Ischebeck on 2 Jun 2021
another example, of a double pendulum
important property to change when recreating: Inertia Sensor > properties > Sensor Extent > "mechanism"
connect sensor port (input) with world frame

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