Documentation

Blocks in SimMechanics

  • By Category | Alphabetical List
  • SimMechanics First Generation

    Block Libraries

    Machines, Bodies and Grounds

    Body Rigid body with frames, inertia and geometry
    Ground Fixed point attached to world
    Machine Environment Mechanical simulation parameters of a machine
    Shared Environment Utility that connects two independent machines in a single mechanical environment

    Joints

    Assembled Joints
    Bearing Joint with three revolute and one prismatic joint primitives
    Bushing Joint with three revolute and three prismatic joint primitives
    Custom Joint Joint with custom combination of prismatic, revolute, and spherical joint primitives
    Cylindrical Joint with one revolute and one prismatic joint primitives
    Gimbal Joint with three revolute joint primitives
    In-Plane Joint with two coplanar prismatic joint primitives
    Planar Joint with one revolute and two prismatic joint primitives
    Prismatic Primitive joint with one translational degree of freedom
    Revolute Primitive joint with one rotational degree of freedom
    Screw Joint with coupled rotational and translational degrees of freedom
    Six-DoF Joint with three revolute and three prismatic joint primitives
    Spherical Primitive joint with three rotational degrees of freedom
    Telescoping Joint with three revolute and one prismatic joint primitives
    Universal Joint with two revolute joint primitives
    Weld Joint with zero degrees of freedom
    Disassembled Joints
    Disassembled Cylindrical Joint with misaligned base and follower axes containing one revolute and one prismatic joint primitives
    Disassembled Prismatic Primitive joint with misaligned base and follower axes containing one translational degree of freedom
    Disassembled Revolute Primitive joint with misaligned base and follower axes containing one rotational degree of freedom
    Disassembled Spherical Primitive joint with misaligned base and follower axes containing three rotational degrees of freedom
    Massless Connectors
    Revolute-Revolute Constant-length joint connector with two spatially separated revolute axes
    Revolute-Spherical Constant-length joint connector with spatially separated revolute axis and spherical pivot point
    Spherical-Spherical Constant-length joint connector with two spatially separated spherical pivot points

    Constraints and Drivers

    Angle Driver Driver specifying a time-dependent angle between two body axis vectors
    Distance Driver Time-dependent distance between two body coordinate systems
    Gear Constraint Constraint that restricts body motion to rotation along tangent circles
    Linear Driver Time-dependent signal of a vector position component between two body coordinate systems
    Parallel Constraint Constant parallel relationship between two body axis vectors
    Point-Curve Constraint Constraint that restricts body motion to a specified path
    Velocity Driver Linear and angular velocity components of base and follower body coordinate systems

    Actuators and Sensors

    Body Actuator Time-dependent force and torque used to actuate a body
    Body Sensor Body translation and rotation sensor
    Constraint & Driver Sensor Sensor used to measure the reaction force and torque between two constrained or driven bodies
    Driver Actuator Time-dependent motion input for driver blocks
    Joint Actuator Time-dependent force, torque, or motion input to a joint
    Joint Initial Condition Actuator Initial joint position and velocity
    Joint Sensor Joint force, torque, and motion sensor
    Joint Stiction Actuator Joint static and kinetic friction
    Variable Mass & Inertia Actuator Time-dependent mass and inertia parameters

    Force Elements

    Body Spring & Damper Damped linear oscillator force between two bodies
    Joint Spring & Damper Damped linear oscillator force or torque acting on a joint

    Interface Elements

    Prismatic-Translational Interface Connection interface between prismatic primitive and Simscape mechanical translational elements
    Revolute-Rotational Interface Connection interface between revolute primitive and Simscape mechanical rotational elements

    Utilities

    Continuous Angle Utility that converts a discontinuous bounded angle into a continuous unbounded angle
    Mechanical Branching Bar Utility that maps multiple sensor and actuation signals into a single connection line
    RotationMatrix2VR Utility that transforms 3x3 rotation matrix into rotation axis-angle 4-vector
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