Simscape Multibody (SimMechanics) - obtaining symbolic dynamic model
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I am trying to model a parallel robot using MATLAB. I've tried the robotics toolbox (which supports symbolic modeling), but it only supports serial robots (i.e. no closed-loop kinematics), unfortunately.
I haven't been able to figure out if Simscape Multibody has the ability to create a dynamic model - symbolically - from a given system of bodies. Basically, given a parametric model of the robot, can I obtain the general expressions describing the system dynamics? (actuator and passive-joint torques, to be precise)
If not, any other recommendation of how to go about solving this would be greatly appreciated.
Steve Miller on 24 Nov 2021
As answered above, the desired task (finding optimal link lengths/sizes, to minimize actuator torque) does not require a full symbolic representation, it requires a parameteric model which Simscape Multibody enables you to create. Automated parameter tuning is possible using Simulink Design Optimization.