multibody simulation with simmechanics - mathworks · simmechanics applications stewart platform...
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![Page 1: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/1.jpg)
1 © 2012 The MathWorks, Inc.
Multibody Simulation
with SimMechanics
김종헌 과장
Senior Application Engineer
MathWorks
![Page 2: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/2.jpg)
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Key Points
Provides libraries for
modeling 3D
mechanical systems
Use 3D visualization to
animate simulation results
and explore model
Connect to other
physical domains
and controller
in a single environment
![Page 3: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/3.jpg)
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Agenda
Example Applications and Tasks
– System level analysis and control design
Building a Model: Scissor Lift
– Custom bodies in MATLAB
– Defining reusable components
– Actuating joints
Exploring the Model
– 3D visualization and animation
Guiding the Assembly
– Specifying state targets
![Page 4: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/4.jpg)
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SimMechanics Applications
Stewart Platform
Platform positions gripper
to track reference trajectory
– Inverse kinematics module and
controller defined in Simulink
SimMechanics helps you:
– Design controller
Control-loop structure, gains
– Optimize system
Component sizes and
actuator dynamics
![Page 5: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/5.jpg)
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SimMechanics Applications
Landing Gear
Deploys and retracts
based on input signal
– Includes control system,
actuator dynamics
SimMechanics helps you:
– Determine and refine
actuator requirements
– Test loading scenarios
– Test parameter variations
![Page 6: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/6.jpg)
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Agenda
Example Applications and Tasks
– System level analysis and control design
Building a Model: Scissor Lift
– Custom bodies in MATLAB
– Defining reusable components
– Actuating joints
Exploring the Model
– 3D visualization and animation
Guiding the Assembly
– Specifying state targets
![Page 7: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/7.jpg)
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Working with
SimMechanics
Build components
– Predefined solids
– Extrusions defined in MATLAB
Parameterize components
– MATLAB variables
– Custom dialog boxes
Connect with joints
– Sense and actuate
– Guide assembly
![Page 8: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/8.jpg)
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Modeling a Scissor Jack
Problem: Model a scissor jack
using reusable components
in the Simulink environment.
Solution: Use SimMechanics
to model the mechanical system.
Model:
F C R
x
z
y
![Page 9: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/9.jpg)
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Agenda
Example Applications and Tasks
– System level analysis and control design
Building a Model: Scissor Lift
– Custom bodies in MATLAB
– Defining reusable components
– Actuating joints
Exploring the Model
– 3D visualization and animation
Guiding the Assembly
– Specifying state targets
![Page 10: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/10.jpg)
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Defining Bodies in
SimMechanics
Problem: Create realistic
body definitions in SimMechanics
Solution: Combine standard solids
and use MATLAB to define extrusions
Model:
x
z
y
B
S
F R C
![Page 11: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/11.jpg)
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Defining Parameterized
Parts and Mechanisms
Problem: Create parameterized,
reusable components in SimMechanics
Solution: Parameterize components
using Simulink masks and use MATLAB
expressions to make them reusable
Model:
Width
Radius
Length
Parameterize Reuse
![Page 12: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/12.jpg)
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Actuating and
Sensing Joints
Problem: Add an actuator
to a scissor lift model
Solution: Actuate a SimMechanics
joint with Simulink or Simscape,
and view the results on a Simulink Scope
Model:
Scissor Lift Actuator
![Page 13: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/13.jpg)
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Agenda
Example Applications and Tasks
– System level analysis and control design
Building a Model: Scissor Lift
– Custom bodies in MATLAB
– Defining reusable components
– Actuating joints
Exploring the Model
– 3D visualization and animation
Guiding the Assembly
– Specifying state targets
![Page 14: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/14.jpg)
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Exploring the
3D Model
Problem: Need to see how
mechanism behaves and relate 3D
representation to block diagram
Solution: Review animation and inspect
model with Mechanics Explorer
Model:
1. Select views
2. Save/reload view configuration
3. Replay animation
4. View hierarchy and parameters
5. Save to video file
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1
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5
2
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Agenda
Example Applications and Tasks
– System level analysis and control design
Building a Model: Scissor Lift
– Custom bodies in MATLAB
– Defining reusable components
– Actuating joints
Exploring the Model
– 3D visualization and animation
Guiding the Assembly
– Specifying state targets
![Page 16: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/16.jpg)
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Guiding the
Assembly
Problem: Not all initial conditions
(angles, positions, velocities, etc.)
are known exactly
Solution: Specify target values with
priorities to indicate if targets should be
met exactly or approximately
Model:
x
z
y
xinit (known)
Θinit (unknown)
Θtarget > 0 xinit
Θtarget < 0 xinit
![Page 17: Multibody Simulation with SimMechanics - MathWorks · SimMechanics Applications Stewart Platform Platform positions gripper to track reference trajectory –Inverse kinematics module](https://reader030.vdocuments.net/reader030/viewer/2022040104/5e6d4164256c3f73fe52c3cf/html5/thumbnails/17.jpg)
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Key Points
Provides libraries for
modeling 3D
mechanical systems
Use 3D visualization
to animate simulation results
and explore model
Connect to other
physical domains
and controller
in a single environment