SimMechanics Example

SimMechanic: Importing a Model from SolidWorks

SimMechanic: Importing a Model from SolidWorks

Use of Joint Sensors

Display angle of revolute joint 1• Joint Sensor measures linear/angular position, velocity,

acceleration, computed force/torque and/or reaction force/torque of a Joint primitive.

Use of Joint Sensors and Actuators

Actuate with motion: • No angular acceleration• Angular velocity of 180 degrees /sec.• Angular position is the integral of angular acceleration

Display reaction torques measured on Follower (not Base)• Joint Sensor provides reaction torques about the X,Y, and Z axes

Introduction of a Servomotor Model

•Modified servomotor model that provides access to the angular acceleration, velocity, and position of the motor.

Validation of Servomotor Model with SimMechanics

Validation of Servomotor Model with SimMechanics

Validation of Servomotor Model with SimMechanics

Validation of Servomotor Model with SimMechanics

• Load inertia (JL) is set to wheel inertia• Wheel inertia is determined from SolidWorks using Mass

Properties

Validation of Servomotor Model with SimMechanics

• Motor RPM using SimMechanics and Simulink

Alternate Method for Integrating Motor Model

Alternate Method: Motor Model

Double Pendulum Driven by Motor

Double Pendulum: Motor Model

Double Pendulum Driven by Gear Motor

Gear Motor Model