MATLAB SIMMECHANICS 3 - VISUALIZATION AND IMPORT GUIDE Manuel d'utilisateur télécharger pdf (Page 25)

Multibody Modeling Workflow

Assemble Multib

ody Model

Once you have cre

ated the rigid body subsystems, you can assemble the

subsystems into

a mechanism or machine. In a m echanism or machine, joints

and constraint

s provide well-defined degrees of freedom that constrain rigid

body motion. Tw

o types of motion are po ssible:

• Rotation abou

toneormoreaxes

• Translation a

longoneormoreaxes

Connect Joints

To assemble

rigid b ody subsystems into complete multibody systems, connect

the with joi

nts. SimMechanics provides a library with fourteen joint blocks.

Each block p

rovides a different number and/or type of mechanical degrees o f

freedom. E

xactly two rigid body fram es connect to each joint, with each frame

belonging

to a different rigid body.

Joints ar

e com po sed of joint primitives — elementary joints that you can

combine t

o create more complex joints. SimMechanics contains three joint

primitiv

es:

• Prismat

ic — one translational degree of freedom along an axis

• Revolut

e — one rotational degree of freedom about an axis

• Spheri

cal — three concurrent degrees of freedom about three axes

The fol

lowing table identifies the joint primitives associated with each joint.

Prismatic Primitives

Weld Joint Prismatic

Joint

Rectangular

Joint

Cart

esian

Joi

Revolute

Joint

Cyl

indrical

Joi

Planar

Joint

—

Revolute

Primitives

1-21

1 2 ... 20 21 22 23 24 25 26 27 28 29 30 ... 48 49

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MATLAB SIMMECHANICS 3 - VISUALIZATION AND IMPORT GUIDE Manuel d'utilisateur Page 25

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