Transcript SimMechanics

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