How to model a robot joint that is actuated with torque amplified through a gearbox in Simulink / SimMechanics?

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ynager on 30 Jul 2016
Answered: Steve Miller on 24 Nov 2021
Dear Community,
I have been trying to model a joint that is actuated through a motor. The motor is attached to a gearbox (160:1) and the output of the gearbox is used to actuate the joint. I am trying to include the effect of inertia amplification of the gearbox, so that when a external torque is applied to the joint, the amplified motor inertia results in a torque that counteracts the applied torque. When the motor produces a torque on the other hand, only the motor inertia and the reduced inertia of the robot arm should be felt by the motor.
I have tried several configurations but can't seem to find a solution that works, even though this should be a very common problem since most joints are actuated through a gearbox.
I have attached a screenshot of two models I tried, but did not work.
The model is built in SimMechanics Generation 1 on R2016a.
Thank you very much for your help!

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