SimMechanics Release Notes

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SimMechanics Release Notes
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Contents

R2015b
Point On Curve Constraint block . . . . . . . . . . . . . . . . . . . . . .

1-2

Spline block for specifying curved paths . . . . . . . . . . . . . . . .

1-2

Frame creation via Solid block UI . . . . . . . . . . . . . . . . . . . . .

1-2

Mechanics Explorer link to block diagram . . . . . . . . . . . . . .

1-3

Rotation Sequence option in Rigid Transform block . . . . . .

1-3

Featured example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3

R2015a
Visibility setting to show or hide solids, bodies, and
multibody subsystems in Mechanics Explorer . . . . . . . . . .

2-2

Lead Screw Joint block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2

Constant Velocity Joint block . . . . . . . . . . . . . . . . . . . . . . . . .

2-2

iii

R2014b
Constraint force and torque sensing in Constraint blocks . .

3-2

Solid 3-D visualization in Solid block dialog box . . . . . . . . .

3-2

Rotation matrix parameterization in Rigid Transform and

Joint blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2

Featured example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2

R2014a
STEP file import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2

Total and constraint force and torque calculation in joint

blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2

Time-varying gravity option in Mechanism Configuration

block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2

Gravitational Field block . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2

Animation at arbitrary speed in Mechanics Explorer . . . . . .

4-3

R2013b

iv

Contents

Joint blocks that now permit prescribed motion defined as

an input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2

Actuation force and actuation torque calculation for

prescribed motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2

Additional CAD constraints translated during model

import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2

Bevel Gear Constraint block . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2

Featured examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2

R2013a
Common Gear block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2

Rack and Pinion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2

Pin Slot Joint block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2

Internal Force block for modeling action and reaction

forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2

Published XML Schema for model import, enabling users to

import mechanical models from external applications such
as CAD systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3

Higher Gravity Precision . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3

SimMechanics Generation Comparison . . . . . . . . . . . . . . . . .

6-3

Featured examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3

R2012b
Second Generation technology now supporting CAD import
from SolidWorks, Inventor, and Pro/ENGINEER . . . . . . . .

7-2

Second Generation technology now supporting C-code

generation with Simulink Coder . . . . . . . . . . . . . . . . . . . . .

7-2
v

Solid of revolution geometry in Solid block . . . . . . . . . . . . . .

7-2

Changes to inertia specification . . . . . . . . . . . . . . . . . . . . . . .

7-2

Four new examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-3

R2012a
SimMechanics Version 4.0 Software and Second Generation
Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2

SimMechanics First and Second Generation Technologies .

8-2

Improvements in SimMechanics Second Generation

Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3

Common Functionality in SimMechanics First and Second

Generation Technologies . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-4

Functionality Found Only in SimMechanics First Generation

Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-4

R2011b
Bug Fixes

R2011a
No New Features or Changes

vi

Contents

R2010b
No New Features or Changes

R2010a
Optional Simplification of Subsystem Hierarchy During
Model Import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-2

Whats This? Context-Sensitive Help Available for Import

Physical Modeling XML Dialog Box . . . . . . . . . . . . . . . . .

12-2

Connection Port Block Consolidated to Simscape Library and

Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12-3
New Demos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Model Hierarchy Simplification During Import . . . . . . . . . .
Reference Coordinate Systems in Imported Physical Modeling
XML . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-3
12-3
12-3

R2009b
No New Features or Changes

R2009a
Changes to External Virtual Reality Visualization . . . . . . .

14-2

Pro/ENGINEER CAD Translation Case Study . . . . . . . . . . .

14-2

vii

R2008b
New SimMechanics Visualization and Animation . . . . . . . .
Compressed Animation Recording from New Visualization on
Windows Vista and 64-Bit Windows Operating Systems .
New Visualization Window Status Bar Not Available on Intel
Mac Operating System . . . . . . . . . . . . . . . . . . . . . . . . . .
New Visualization Not Supported on Solaris 64 UNIX
Operating System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15-2

New SimMechanics Link Utility . . . . . . . . . . . . . . . . . . . . . .

15-3

Upgraded Mechanical Import and Automatic Model

Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15-3

BodyBuilder for Creating STL Body Geometry Files . . . . .

15-4

Command Being Removed . . . . . . . . . . . . . . . . . . . . . . . . . . .

15-4

SimMechanics Documentation Reorganized . . . . . . . . . . . .

15-5

Physical Modeling of Mechanical Friction . . . . . . . . . . . . . .

15-5

15-3
15-3
15-3

R2008a
Whats This? Context-Sensitive Help Available for Simulink
Configuration Parameters Dialog . . . . . . . . . . . . . . . . . . .
16-2

R2007b
Interfacing with One-Dimensional Simscape Domains . . . .

viii

Contents

17-2

SimMechanics State Names Now Available to Simulink and

Real-Time Workshop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17-2

Controlling Redundant Constraint Analysis with New

Tolerance Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17-2

New Demos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Car Modeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17-2
17-3
17-3

Code Generation Documentation Consolidated to Simscape

User's Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17-3

R2007a
SimMechanics Software Now Requires Simscape Product .

18-2

Sharing Models Using Simscape Editing Modes . . . . . . . . .

18-2

Block Library Links Must Be Resolved . . . . . . . . . . . . . . . .

18-2

Two Blocks Now with Tunable Parameters . . . . . . . . . . . . .

18-2

Demos Expanded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Angular Motion Equivalence . . . . . . . . . . . . . . . . . . . . . . . .
Joint Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Stochastic Oscillator and Controller . . . . . . . . . . . . . . . . . .

18-3
18-3
18-3
18-3

Modeling Constraints with SimMechanics Software . . . . . .

18-3

R2006b
Computer-Aided Design Translator for Pro/ENGINEER
Available via the Web . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the Pro/ENGINEER-to-SimMechanicsTranslator .

19-2
19-2
ix

Translator Documentation . . . . . . . . . . . . . . . . . . . . . . . . . .
Translator Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19-2
19-2

SolidWorks-to-SimMechanics Translator Now Available Only

via the Web . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19-3
New Demo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19-3

Modeling Flexible Bodies with SimMechanics Software . . .

19-3

R2006a
New Block Dialogs and the Simulink Model Explorer . . . .
Block Dialogs Not Rendered in Model Explorer . . . . . . . . . .

20-2
20-2

Joint Spring & Damper Adds Extra Simulink State When

Connected to a Revolute . . . . . . . . . . . . . . . . . . . . . . . . . . .

20-2

Improved SolidWorks CAD Translation . . . . . . . . . . . . . . . .

20-2

R14SP3

Contents

New Shared Environment Block . . . . . . . . . . . . . . . . . . . . . .

21-2

Updated Body Spring & Damper Block . . . . . . . . . . . . . . . .

21-2

Normalizing Rotations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21-2

New State Vector Commands . . . . . . . . . . . . . . . . . . . . . . . . .

21-2

New import_physmod Dialog . . . . . . . . . . . . . . . . . . . . . . . . .

21-3

Demos Expanded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21-3

Documentation Enhancements . . . . . . . . . . . . . . . . . . . . . . .

21-3

R14SP2
Demos Expanded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22-2

Documentation Enhancements . . . . . . . . . . . . . . . . . . . . . . .

22-2

xi

R2015b
Version: 4.7
New Features
Bug Fixes

R2015b

Point On Curve Constraint block

Constrain the position of a frame to a specified curve, for example, to model a roller
coaster or cam mechanism. You specify a curve using the new Spline block, which you
connect to geometry port B. The Point On Curve Constraint block appears in the
Constraints library.
The block constrains the attached frame by applying the force needed to keep it on the
specified curve. You can sense the constraint force as a three-dimensional vector that the
block outputs as a physical signal.
For a tutorial showing how to use the Spline and Point On Curve Constraint blocks, see
Model Cam Mechanism.

Spline block for specifying curved paths

Specify a 2-D or 3-D curve along which to constrain the position of a frame. Connect the
Spline block to geometry port B of a Point On Curve Constraint block in order to
constrain a frame to the specified curve. The Spline block appears in the new Curves and
Surfaces library.
Spline curves can be open or closed and are based on cubic interpolation between the
curve points you specify. You can visualize the spline curve in the Spline block UI, for
example, to ensure the curve shape is correct. You can also visualize the spline curve in
Mechanics Explorer on model update and during simulation.
For a tutorial showing how to use the Spline and Point On Curve Constraint blocks, see
Model Cam Mechanism.

Frame creation via Solid block UI

Interactively add frames to a solid using the frame creation interface in the Solid block
dialog box. Use the Frames menu to add or edit any number of frames. You can define
the frame origin and orientation based on the solid reference frame axes, the solid center
of mass and principal axes, or geometric features such as points, lines, and surfaces.
You can use a geometric feature by selecting the Based on Geometric Feature radio
button, selecting the desired geometric feature in the visualization pane, and then
clicking the Use Selected Feature button. To keep your new frame, save the frame
definition and select OK or Apply.
1-2

For a tutorial showing how to use the frame creation interface, see Interactively Create
Solid Frames.

Mechanics Explorer link to block diagram

Go to the block corresponding to a node on the tree view pane in Mechanics Explorer.
You can select a solid in the visualization pane, right-click the highlighted node in
the tree view pane, and then select Go to Block. You can also select other node types
directly from the tree view pane, such as those corresponding to subsystems, joints and
constraints, forces and torques, and other blocks. For more information, see Go to Block
from Mechanics Explorer.

Rotation Sequence option in Rigid Transform block

Specify a 3-D rotation as a sequence of three elementary rotations. Such rotation
sequences are commonly known as Euler and Tait-Bryan sequences. The rotation
sequence parameterization is available in the Rigid Transform block. It is also
available in joint blocks with spherical joint primitives, including Spherical Joint, 6DOF Joint and Telescoping Joint.

Featured example
A new featured example showcases the Point-on-Curve Constraint and Spline blocks:
sm_cam_flapping_wing

1-3

R2015a
Version: 4.6
New Features
Bug Fixes

R2015a

Visibility setting to show or hide solids, bodies, and multibody

subsystems in Mechanics Explorer
Switch the visibility of a solid, body, or multibody subsystem on or off in Mechanics
Explorer. A new context-sensitive menu in the tree-view pane enables you to:
Show the selected component
Hide the selected component
Show only the selected component
Show all the components in the model
To switch the visibility setting, in the tree-view pane of Mechanics Explorer, right-click
the name of a solid, body, or multibody subsystem. Then, select the desired option from
the context-sensitive menu. For more information, see Filtering Model Visualization.

Lead Screw Joint block

The Joints library adds a Lead Screw Joint block. Use this block to convert rotational
motion to translational motion and, conversely, translational motion to rotational motion.
Lead screw applications include the linear actuators typically used in aircraft flap
systems, CNC machines, and 3-D printers. The block is based on a new joint primitive
named Lead Screw Primitive (LS).

Constant Velocity Joint block

The joints library adds a Constant Velocity Joint block. Use this block to model a joint
with two rotational degrees of freedomthe bend and azimuth anglesand a kinematic
constraint that ensures the base and follower port frames spin at constant velocity
relative to each other regardless of their relative angle.
Constant velocity joint applications include automotive driveline systems with power
transmission occurring between shafts connected at an angle. The block is based on a
new joint primitive named Constant Velocity Primitive (CV).

2-2

R2014b
Version: 4.5
New Features
Bug Fixes

R2014b

Constraint force and torque sensing in Constraint blocks

Compute and output the forces and torques that enable a Constraint block to enforce its
kinematic constraint. The blocks output one or more physical signals with the variables
that you select. These variables can include the constraint force and torque vectors and
their signed magnitudes. The blocks resolve the vector quantities in the resolution frame
that you specify.
The new blocks with constraint force and torque sensing are Angle Constraint and
Distance Constraint. These blocks expand the list of blocks with constraint force and
torque sensing. You can also sense constraint forces and torques through Joint blocks.

Solid 3-D visualization in Solid block dialog box

Visualize the solid you are modeling directly in the Solid block dialog box. The updated
block includes a collapsible visualization pane that shows the current state of your 3-D
solid. You can use this pane to check the geometry and color of individual solids before
updating or simulating the model.
The visualization pane includes a toolstrip for controlling the solid view. The toolstrip,
which provides many of the Mechanics Explorer toolstrip buttons, enables you to rotate,
pan, and zoom a solid, to select a standard view point, and to visualize the solid reference
frame.

Rotation matrix parameterization in Rigid Transform and Joint blocks

Specify a frame rotation using a 3-D rotation matrix. The new parameterization is
available in two block types, Rigid Transform and joint blocks with spherical joint
primitives. Use this parameterization in the Rigid Transform block to specify a fixed
rotation or in a joint block to specify the position state target of a spherical joint
primitive. The joint blocks with the new parameterization are:
6-DOF Joint
Spherical Joint
Telescoping Joint

Featured example
A new featured example showcases the constraint force and torque sensing capability of
Joint blocks:
3-2

 Sensing Composite Forces and Torques in Joints Potters Wheel

3-3

R2014a
Version: 4.4
New Features
Bug Fixes

R2014a

STEP file import

Load solid geometry directly from a STEP file. This file type enables SimMechanics to
automatically compute inertia from solid geometry, an advantage over STL files. You can
generate the STEP file that you want to load externally, e.g., using a CAD platform.

Total and constraint force and torque calculation in joint blocks

Sense the total and constraint forces and torques acting at whole joints. Joint block
dialog boxes provide a new expandable parameter list, Composite Force/Torque
Sensing, in which you can select the whole-joint variables to sense. Select a variable
to calculate its time-dependent values during simulation and deliver them through a
physical signal output port. Variables that you can sense include:
Total Force/Torque Net sum of forces and torques acting at the joint. These
variables include contributions from actuation, internal mechanics, and constraint
forces and torques.
Constraint Force/Torque Forces and torques acting orthogonally to the joint
degrees of freedom. In a Revolute Joint block, which provides a single rotational
degree of freedom about the Z axis, the constraint forces act along all the Cartesian
axes (X, Y, and Z), while the constraint torques act about the X and Y axes.

Time-varying gravity option in Mechanism Configuration block

Specify the gravitational acceleration vector as a function of time, using the Mechanism
Configuration block. To support this task, the Uniform Gravity parameter in the
block dialog box now provides a Time-Varying option. Select that option to expose a
physical signal port to which you can connect a time-varying gravity physical signal.
The gravitational acceleration vector is strictly uniform in space. It does not vary with
position.

Gravitational Field block

Model the gravitational pull of a point mass on every rigid body in a mechanism. The
Gravitational Field block exerts a force that varies with mass and distance according to
Newtons law of universal gravitation. Applications include large-scale orbital systems
in which gravity changes due to varying distances play an important rolee.g., a solar
system model for spacecraft trajectory planning. The block is in the Forces and Torques
library.
4-2

Animation at arbitrary speed in Mechanics Explorer

Change the base playback speed of a SimMechanics animation by an arbitrary factor.
This speed corresponds to the 1x animation slider setting in Mechanics Explorer. It
equals the number of seconds in simulation time that play in one second of animation
playback time.
You can specify the base playback speed as a numerical input in Mechanics Explorer.
This parameter appears in Tools > Animation Settings. Change its value to better
visualize motion at extreme time scales.
The new parameter is relevant, for example, in a solar system model. At the default
value of the base playback speed, planet motion is exceedingly slow. Due to the time scale
of such a model, moving the playback speed slider to its maximum value of 256 does not
suffice. Planet motion remains nearly imperceptible.
To visualize one Earth revolution in minutes or seconds, you must increase the playback
speed by a very large factor. This factor might be seven orders of magnitude larger than
the default valuelarger than the playback speed slider allows. You specify such a large
playback speed using the new base playback speed parameter.
Consider a model of the solar system. You can play animation at a rate of one Earth
revolution per second. To play animation at this rate, you specify a base playback speed
of

365

days
hours
minutes
seconds
24
60
60
= 3.1 5e7.
second
day
hour
minute

You can then use the playback speed slider to fine-tune the playback speed. The slider
multiples the base playback speed by factors of two between a minimum of 1/256 and a
maximum of 256.

4-3

R2013b
Version: 4.3
New Features
Bug Fixes

R2013b

Joint blocks that now permit prescribed motion defined as an input signal
Joint blocks now accept motion variablesposition, velocity, accelerationas actuation
inputs. Use these inputs to specify the time-dependent path of a joint directly.

Actuation force and actuation torque calculation for prescribed motion

Joint blocks can now compute and output actuation force and torque values. Use these
outputs to analyze actuation force and torque requirements at a joint, for example, due to
prescribed motion.

Additional CAD constraints translated during model import

The import function for second-generation models, smimport, supports three additional
CAD constraints: parallel, perpendicular, and distance. Imported models represent
parallel and perpendicular constraints using Angle Constraint blocks, and distance
constraints using Distance Constraint blocks.

Bevel Gear Constraint block

The Gears and Couplings library contains one new block:
Bevel Gear Constraint Gear constraint between two frames spinning about
arbitrarily oriented axes.

Featured examples
Two new featured examples are available:
Computing Actuator Torques Using Inverse Dynamics
3-Roll Robotic Wrist Mechanism

5-2

R2013a
Version: 4.2
New Features
Bug Fixes

R2013a

Common Gear block

SimMechanics Second Generation provides a new Common Gear Constraint block. You
can find this block in the new Gears, Couplings and Drives library.
Block

Description

Common Gear

Gear constraint that you can use to

transmit angular motion between two rigid
body frames rotating about parallel axes

Rack and Pinion block

SimMechanics provides a new Rack and Pinion Constraint block. You can find this block
in the new Gears, Couplings and Drives library.
Block

Description

Rack and Pinion

Gear constraint that you can use to convert

the angular motion of a pinion frame into
linear motion of a rack frame and viceversa

Pin Slot Joint block

SimMechanics provides a new Pin Slot Joint block. You can find this block in the Joints
library.
Block

Description

Pin Slot Joint

Joint with two degrees of freedom, one

translational and one rotational, with
mutually orthogonal motion axes

Internal Force block for modeling action and reaction forces

SimMechanics provides a new Internal Force block. You can find this block in the Forces
and Torques library.
6-2

Block

Description

Internal Force

General force acting between two rigid

body frames along the line connecting their
origins

Published XML Schema for model import, enabling users to import

mechanical models from external applications such as CAD systems
SimMechanics now provides an XML schema that you can use to generate SimMechanics
Import XML files. Use the schema in conjunction with the API of an external application,
such as a CAD platform, to generate a valid SimMechanics Import XML file for a
multibody model. Then, import this file to automatically generate an equivalent model in
SimMechanics Second Generation format.

Higher Gravity Precision

The gravity vector in the Mechanics Configuration block now has a precision of six
significant digits (-9.80665 m/s^2). Older models with a Mechanism Configuration
block retain the older precision level of three significant figures. To apply the higher
precision level in these models, you can manually update the gravity vector.

SimMechanics Generation Comparison

The Gears library adds to SimMechanics Second Generation new complex constraints
previously found only in SimMechanics First Generation. For a full comparison between
the two SimMechanics generations, see Modeling with SimMechanics First and Second
Generations.

Featured examples
Four new featured examples are available:
Double-Wishbone Suspension
Backhoe
Cardan Gear
Windshield Wiper

6-3

R2012b
Version: 4.1
New Features
Bug Fixes
Compatibility Considerations

R2012b

Second Generation technology now supporting CAD import from

SolidWorks, Inventor, and Pro/ENGINEER
SimMechanics introduces CAD import in SimMechanics second-generation format.
Import the SimMechanics Import XML file that represents a CAD assembly, and
automatically generate the corresponding SimMechanics second-generation model.

Second Generation technology now supporting C-code generation with

Simulink Coder
SimMechanics Second Generation now supports code generation with Simulink Coder.
Generate C code from a SimMechanics model, and use the code for applications like
hardware-in-the-loop (HIL) testing and rapid prototyping.
SimMechanics Second Generation does not support run-time parameters. Model
parameters are fixed during code generation, and are not available for edit outside
SimMechanics. To update model parameters, you must edit them in SimMechanics and
then regenerate the C code for your model.

Solid of revolution geometry in Solid block

The Solid block adds a Revolution geometry. The geometry represents solids that have
a constant cross-section about an axis of revolution. Examples include cones, domes, and
toroids. Revolutions can be full or partial.

Changes to inertia specification

The form of the Products of Inertia input vector has changed in Solid and Inertia
blocks. The new input vector has the form [Iyz, Izx, Ixy]. The vector elements correspond to
the inertia matrix off-diagonal elements:

I
xy

I
zx

7-2

I xy I zx

I yz

I yz

Previously, the Products of Inertia parameter required the negative values [-Iyz, -Izx, Ixy].

Four new examples

SimMechanics introduces four new examples:
Radial Piston Engine
Electrically Operated Bread Slicer
CAD Import of Stewart Platform
CAD Import of Four-Bar Mechanism

7-3

R2012a
Version: 4.0
New Features
Bug Fixes
Compatibility Considerations

R2012a

SimMechanics Version 4.0 Software and Second Generation Technology

SimMechanics Version 4.0 introduces Second Generation technology to model, simulate,
and analyze two- and three-dimensional multi-body mechanical systems. Second
Generation technology provides a more intuitive and powerful block diagram language
that lets you easily create reusable parts and libraries. It also adds advanced threedimensional visualization and animation support.
Version 4.0 provides full support for both First Generation and Second Generation
functionality, including block sets and tools. With Version 4.0, you have the option to
create and simulate a mechanical model using First or Second Generation technology.
Version 4.0 software gives you the two full block libraries, labeled First Generation and
Second Generation.
Note: The term generation e.g. Second Generation refers to the SimMechanics
technology used. A SimMechanics version may contain one or both generations.

SimMechanics First and Second Generation Technologies

SimMechanics Second Generation technology is a comprehensive advancement of
SimMechanics First Generation technology. To ease the transition from First Generation
to Second Generation technology, and to support existing First Generation users,
SimMechanics Version 4.0 fully supports both First Generation and Second Generation
features.
This table summarizes First Generation and Second Generation technologies in their
native SimMechanics versions.

8-2

Technology

Description

Block Library

SimMechanics First
Generation

Encompasses the complete

To access the block library,
SimMechanics behavior
at the command line, type
through Version 3.2.3 (R2011b). mechlib.
First Generation features
are designated by the First
Generation library in both the
Simulink Library Browser and
the Help Browser windows.

Technology

Description

Block Library

SimMechanics
Second Generation

Encompasses the new

SimMechanics behavior in
Version 4.0 (R2012a). Second
Generation features are
designated by the Second
Generation library in both the
Simulink Library Browser and
the Help Browser windows.

To access the block library, at

the command line, type sm_lib.

Compatibility Considerations
First- and second-generation blocks are based on different languages. To interconnect the
two block types, you must use Simulink-PS Converter and PS-Simulink Converter blocks.
You can find the converter blocks in the Simscape Utilities library.

Improvements in SimMechanics Second Generation Technology

The following functionality has been added or improved for SimMechanics Second
Generation:
Multibody modeling paradigm centered on frames, including:
Ports and nodes map that directly to frames
Frames that are strictly locally-defined
Mechanics Explorer visualization utility
Visualize 3D models
Explore model using tree browser and visualization panes
Enhanced animation support
Control animation speed
Replay animation without rerunning simulation
Inertia calculation and joint state targets
Automatically calculate inertia from geometry
Specify joint state target values and priority settings
8-3

R2012a

Improved integration with Simscape.

Includes support for physical signals and units.

Common Functionality in SimMechanics First and Second Generation

Technologies
The following functionality is present in both SimMechanics First and Second
Generations:
Rigid body specification
Joint specification
Constraint specification
Force and torque inputs
Linearization of mechanical models
Trimming mode of analysis
Motion outputs

Functionality Found Only in SimMechanics First Generation Technology

The following functionality is present only in SimMechanics First Generation:
Code generation support
Model reference accelerator mode is absent in the SimMechanics Second
Generation sub-library.
CAD import support
Motion input in Joint Blocks
Force outputs in Joints and Constraints blocks
Missing Constraints blocks:
point-curve, gear, velocity, and projection constraints are not included in the
SimMechanics Second Generation sub-library.
Missing Force Outputs
Applied and reaction force outputs for joints are not available.
Missing Joints
8-4

 Screw and massless connector joint blocks are not included in the SimMechanics
Second Generation sub-library.
Variable gravity and mass distribution
Visualization features
Model reference normal mode is not included in SimMechanics Second Generation
technology.

8-5

R2011b
Version: 3.2.3
Bug Fixes

R2011a
Version: 3.2.2
No New Features or Changes

R2010b
Version: 3.2.1
No New Features or Changes

R2010a
Version: 3.2
New Features

R2010a

Optional Simplification of Subsystem Hierarchy During Model Import

When you generate SimMechanics models with the mech_import command, you can now
choose certain automatic simplifications of the imported model's hierarchy:
Bringing all joints in the generated model to the highest level being imported, either
the whole model or a subsystem.
Grouping all welded bodies at each level of the model hierarchy into new rigid
subsystems at the same level.
Without these options, the generated model's hierarchy follows the hierarchy specified in
the imported XML file, derived from its original CAD assembly.

Whats This? Context-Sensitive Help Available for Import Physical

Modeling XML Dialog Box
This release introduces What's This? context-sensitive help for parameters that appear
in the Import Physical Modeling XML dialog opened by entering mech_import with
no arguments at the command line. This feature provides quick access to a detailed
description of the parameters, saving you the time it would take to find the information
in the Help browser.
To use the "What's This?" help, do the following:
1

Place your cursor over the label of a parameter.

Right-click. A What's This? context menu appears.

For example, the following figure shows the What's This? context menu appearing
after a right-click on the Start time parameter in the Solver pane.

12-2

Click What's This? A context-sensitive help window appears showing a description

of the parameter.

Connection Port Block Consolidated to Simscape Library and

Documentation
The Connection Port block has been removed from the block libraries of all add-on
products dependent on Simscape software. When using these dependent add-on products,
look for the Connection Port block in the Simscape Utilities library.
The Connection Port block help for these add-on products now directs you to the
Simscape block reference.

New Demos
Two new demos have been added.
Model Hierarchy Simplification During Import
You can learn more about how to simplify imported model hierarchy by reviewing the
Mechanical Import with Model Simplification featured example.
This demo uses two new Physical Modeling XML files, SimplificationExample1.xml
and SimplificationExample2.xml. Models generated from these XML files also
appear as large graphics examples in Nondefault Hierarchy and Organization of
Generated Models.
Reference Coordinate Systems in Imported Physical Modeling XML
With the SimMechanics Link utility, you can export reference coordinate systems that
you insert into CAD assemblies. (This feature is not supported on all CAD platforms.)
From the exported Physical Modeling XML, you can generate a SimMechanics model
with extra Body coordinate systems corresponding to the assembly reference coordinate
systems and not associated with CAD constraints and automatically generated Joints.
Using the new GearAssembly.xml file, the User-Added Coordinate Systems in an
Imported Gear Assembly featured example shows how you can use reference coordinate
systems to manually add a Constraint block to a model after import.

12-3

R2009b
Version: 3.1.1
No New Features or Changes

R2009a
Version: 3.1
New Features

R2009a

Changes to External Virtual Reality Visualization

The new Simulink 3D Animation software replaces the Virtual Reality Toolbox product
for visualizing virtual scenes. The documentation section on building and using a virtual
reality client to visualize SimMechanics models has been updated to reflect this change.

Pro/ENGINEER CAD Translation Case Study

The CAD translation chapter now contains a case study demonstrating assembly export
and re-export, along with model import and update. The study uses SimMechanics and
SimMechanics Link software, together with Pro/ENGINEER, and models a double
pendulum, subsequently modified to a triple pendulum. The study illustrates how you
can update an existing generated CAD-based model with successive changes to the
original CAD assembly.

14-2

R2008b
Version: 3.0
New Features
Compatibility Considerations

R2008b

New SimMechanics Visualization and Animation

The visualization has been upgraded with new features and a new interface. It now
supports
Customizable body geometries with STL (stereolithographic) files
Customizable body colors
Better dynamic view control
Better animation speed control
Consult the new SimMechanics Visualization and Import Guide for complete
information.
For more about creating STL files, see BodyBuilder for Creating STL Body Geometry
Files on page 15-4.

Compatibility Considerations
The old SimMechanics visualization allowed you to save visualization settings to a MATfile associated with a SimMechanics model.
When you open such a model in the new version, the model will attempt to load the MATfile, as before, and map the old visualization options to the new options as closely as
possible. This is a one-time conversion. The MAT-file has to be on the MATLAB path so
it can be found when you open the model.
To save these converted visualization settings:
1

You must open the visualization window and save these settings to the model.

Then you must save the model itself.

Use the visualization controls to save the settings to the model. See the SimMechanics
Visualization and Import Guide.
Caution To save visualization settings from an old model in the new visualization,
you must follow these steps, in this order. Otherwise, you might lose the old settings
permanently.
15-2

Compressed Animation Recording from New Visualization on Windows Vista and 64-Bit
Windows Operating Systems
To compress a recorded animation of a simulation, you need the Indeo 5 codec. This codec
might not be available on the 32-bit Windows Vista operating system and the 64-bit
Windows XP and Windows Vista operating systems. If you require compression and
the codec is not found, the animation AVI file is still saved, but without compression. A
warning appears.
For further details, consult Technical Solution 1-1HTNHW at the MathWorks web site.
New Visualization Window Status Bar Not Available on Intel Mac Operating System
The status bar of the new visualization window, below the machine display, does not
appear at all on the Intel Mac operating system. On other operating systems, the status
bar shows simulation time, as well as Body block and coordinate system names.
New Visualization Not Supported on Solaris 64 UNIX Operating System
The new visualization and animation interface is not available on the Solaris 64 UNIX
operating system. SimMechanics software automatically reverts to the old visualization
interface.

New SimMechanics Link Utility

The new SimMechanics Link utility provides a bridge from third-party mechanical
design and modeling applications to the system and control design features of MATLAB
and Simulink. It connects computer-aided design (CAD) platforms to mechanical
modeling with SimMechanics software by enabling export of CAD assemblies into the
Physical Modeling XML format that allows for automatic generation of SimMechanics
models.
Refer to the SimMechanics Link documentation for more information. The SimMechanics
Link utility requires MATLAB, but not Simulink, Simscape, or SimMechanics.

Upgraded Mechanical Import and Automatic Model Generation

The new mech_import command works with externally defined Physical Modeling XML
files to automatically generate SimMechanics models. It supports a new SimMechanics
feature, updating models generated previously.
15-3

R2008b

Compatibility Considerations
Physical Modeling XML files generated by the old CAD-to-SimMechanics translators
remain compatible with mech_import. Using this command, you can still import old
XML files to generate SimMechanics models. Because these models have no associated
exported STL body geometry files, they will visualize using the standard (noncustom)
body shapes.
The updating feature of mech_import works only with Physical Modeling XML files
generated by exporting from the SimMechanics Link utility. This feature does not
work with Physical Modeling XML files generated from the old CAD-to-SimMechanics
translators.
You should replace all existing instances of the import_physmod command with the new
mech_import command. See Command Being Removed on page 15-4.
Caution Do not attempt to use the import_physmod command in older SimMechanics
versions with Physical Modeling XML files generated by the new SimMechanics Link
exporter.

BodyBuilder for Creating STL Body Geometry Files

In addition to generating STL body geometry files automatically from a CAD assembly,
you can also create STL files by hand or by using a body geometry editor. BodyBuilder
is an application based on MATLAB that provides a graphical means to create STL files
for use in SimMechanics body visualization. You can obtain BodyBuilder from MATLAB
Central.

Command Being Removed

Command Name What Happens
When You Use
Command?

Use This Instead

Compatibility Considerations

import_physmod Still runs

mech_import

Replace all existing instances of

import_physmod with mech_import.

15-4

SimMechanics Documentation Reorganized

The SimMechanics documentation is now organized into four books.
Book

Includes Material from Old Chapters

SimMechanics Getting Started Guide

1, 2, and 3

SimMechanics User's Guide

4, 5, 8, and 9

SimMechanics Visualization and Import

Guide

6 and 7

SimMechanics Reference

10, 11, 12, and 13

Physical Modeling of Mechanical Friction

A recent MATLAB Digest article explains how to simulate mechanical friction with
Simulink, SimDriveline, and SimMechanics models. A set of models accompanies the
article in a compressed zip archive available from MATLAB Central.

15-5

R2008a
Version: 2.7.1
New Features

R2008a

Whats This? Context-Sensitive Help Available for Simulink

Configuration Parameters Dialog
R2008a introduces What's This? context-sensitive help for parameters that appear in
the Simulink Configuration Parameters dialog. This feature provides quick access to
a detailed description of the parameters, saving you the time it would take to find the
information in the Help browser.
To use the "What's This?" help, do the following:
1

Place your cursor over the label of a parameter.

Right-click. A What's This? context menu appears.

For example, the following figure shows the What's This? context menu appearing
after a right-click on the Start time parameter in the Solver pane.

16-2

Click What's This? A context-sensitive help window appears showing a description

of the parameter.

R2007b
Version: 2.7
New Features

R2007b

Interfacing with One-Dimensional Simscape Domains

The Prismatic-Translational Interface and Revolute-Rotational Interface blocks of
the new Interface Elements library allow you to connect a SimMechanics Prismatic or
Revolute joint primitive to a Physical Networks line connected to Simscape blocks. The
Prismatic-Translational Interface and Revolute-Rotational Interface blocks transfer
mechanical velocities and forces/torques as Physical Networks cross- and throughvariables, respectively, without energy loss, along or around axes that you can define.
Several new demos illustrate the use of the Interface Elements blocks. See New Demos.

SimMechanics State Names Now Available to Simulink and Real-Time

Workshop
You can access the names of the mechanical states of your SimMechanics models through
the mech_stateVectorMgr command. The names of these states and the SimMechanics
blocks that define them are now available to Simulink and appear in the outputs of
model simulations. They also appear in simulations based on code generated with RealTime Workshop.
See the Simulink and Real-Time Workshop documentation for further details about
states.

Controlling Redundant Constraint Analysis with New Tolerance Setting

You can now adjust the sensitivity of the SimMechanics redundant constraint analysis
in the Constraints tab of the Machine Environment block, which allows you to choose
between automatic constraint redundancy analysis or specifying a constraint redundancy
tolerance explicitly.
Certain mechanical configurations are sensitive to the constraint redundancy tolerance
and can spuriously lose or gain degrees of freedom if this tolerance is adjusted
incorrectly.

New Demos
Nine new demos have been added.
17-2

Interface Blocks
These demos illustrate how to use the new Interface Elements blocks. See Interfacing
with One-Dimensional Simscape Domains.
mech_interface_crate_transfer
mech_interface_dspring_damper
mech_interface_hyd_cylinder
mech_interface_hyd_slidercrank
mech_interface_rot_spr_damper
mech_interface_trans_spr_damper
Car Modeling
These new demos provide examples of sophisticated automotive modeling.
mech_car_handling
mech_car_kinematics
These demos shipped in the Version 2.6 (R2007a) SimMechanics product.

Code Generation Documentation Consolidated to Simscape User's Guide

Documentation of code generation features common to all Physical Modeling add-on
products based on Simscape software has been consolidated to the Simscape User's
Guide. The SimMechanics User's Guide continues to document uniquely SimMechanics
features related to code generation.

17-3

R2007a
Version: 2.6
New Features
Compatibility Considerations

R2007a

SimMechanics Software Now Requires Simscape Product

SimMechanics software now depends on and requires Simscape software, the foundation
for Physical Modeling products. Simscape software includes common Physical Modeling
utilities and block libraries.

Sharing Models Using Simscape Editing Modes

SimMechanics software now features a selection of two Simscape editing modes that
allow full or restricted editing of models.
The Restricted mode requires SimMechanics product to be installed, but does not
require a license. It allows you to change a limited set of model parameters, but not
the blocks or connections, in a SimMechanics model.
The Full mode requires both Simscape and SimMechanics products to be installed. It
allows you to change anything in a SimMechanics model.

Block Library Links Must Be Resolved

All SimMechanics blocks in your models must now have resolved block library links. You
can neither disable nor break these library links. This is a global Simscape requirement.
Consult the Simscape documentation for further details.

Compatibility Considerations
If you have an existing SimMechanics model with disabled or broken links from
SimMechanics blocks to the SimMechanics block library, you must restore all the broken
block library links for your model to be valid.
If you have disabled or broken the SimMechanics library link for blocks that you have
customized and want to keep these modified blocks in your model, you must move these
modified blocks to your own custom library or libraries, then copy the block instances
that you need to your model.
You must still restore the block link to its parent library, whether that parent is the
SimMechanics block library or your own.

Two Blocks Now with Tunable Parameters

These SimMechanics parameters are now tunable from their respective block dialogs:
18-2

 The Gravity vector field of the Machine Environment block.

All three parameter fields of the Body Spring & Damper block.

Demos Expanded
Five new demos have been added.
Angular Motion Equivalence
The mech_gimbal_transform demo shows the equivalence of a body's angular motion as
measured by Joint Sensors and as measured by Body Sensors.
Joint Limits
Two demos illustrate how to model limits or clearance on joint motion:
mech_jointlimit_prismatic
mech_jointlimit_revolute
The first illustrates limits on translational motion; the second, limits on rotational
motion.
Stochastic Oscillator and Controller
Two demos simulate a mixture of deterministic and random forces with a model of a
micromechanical damped linear oscillator:
mech_brownian_osc
mech_brownian_osc_control
The first model has no controller; the second, a control force in addition to the damped
spring and white noise forces.

Modeling Constraints with SimMechanics Software

A new MATLAB Digest article explains how to model mechanical constraints with
SimMechanics blocks. The article uses a set of four existing SimMechanics demos as
illustrations.

18-3

R2006b
Version: 2.5
New Features
Compatibility Considerations

R2006b

Computer-Aided Design Translator for Pro/ENGINEER Available via the

Web
A new computer-aided design (CAD) Pro/ENGINEER-to-SimMechanics translator is
available. You install and use this translator with Pro/ENGINEER. It is independent of
MATLAB.
The translator converts a Pro/ENGINEER CAD machine assembly into an XML file in
the Physical Modeling format. The XML file represents the assembly in a form that you
can use to generate a SimMechanics block diagram model dynamically equivalent to the
original CAD assembly. To generate models, use the import_physmod command.
Installing the Pro/ENGINEER-to-SimMechanicsTranslator
Obtain and use the installer executable by locating and downloading its archive at
www.mathworks.com/products/simmechanics/. A README page is provided that
describes installation and configuration details.
Translator Documentation
Help files accompany the Pro/ENGINEER-to-SimMechanics translator. They include two
HTML pages and a PDF book. These files are independent of the MATLAB help system.
Translator Examples
Some examples of Pro/ENGINEER CAD assemblies are included with the Pro/
ENGINEER-to-SimMechanics translator.
One of the examples is a robot arm assembly. The corresponding XML file in Physical
Modeling format, robot.xml, is located in the toolbox/physmod/mech/mechdemos/
folder, relative to your MATLAB root.

Compatibility Considerations
Versions of Pro/ENGINEER compatible with the Pro/ENGINEER-to-SimMechanics
translator are listed at the MathWorks Web site. The translator is available only for the
Microsoft Windows (32-bit) operating system.

19-2

SolidWorks-to-SimMechanics Translator Now Available Only via the Web

The existing SolidWorks-to-SimMechanics translator for the SolidWorks CAD
platform continues to be available via the Web, at www.mathworks.com/products/
simmechanics/. However, it no longer ships with the SimMechanics product.

Compatibility Considerations
Versions of SolidWorks compatible with the SolidWorks-to-SimMechanics translator are
listed at the MathWorks Web site.
The SolidWorks CAD platform and the SolidWorks-to-SimMechanics translator are
available only for the Microsoft Windows (32-bit) operating system.

New Demo
This version of SimMechanics software includes one new demo model,
mech_brownian_osc, a stochastic linear harmonic oscillator based on micro- and
biomechanics.

Modeling Flexible Bodies with SimMechanics Software

A new MATLAB Digest article and related technical paper explain how to simulate
flexible bodies with SimMechanics models and third-party finite element analysis
applications. A set of models accompanies the technical paper in a compressed zip archive
available from MATLAB Central.

19-3

R2006a
Version: 2.4
New Features

R2006a

New Block Dialogs and the Simulink Model Explorer

Most of the SimMechanics block dialogs have been upgraded and are now compatible
with the Simulink Model Explorer. See the Simulink documentation for more about
Model Explorer.
Block Dialogs Not Rendered in Model Explorer
Model Explorer cannot render the dialogs of these blocks:
Shared Environment
Point-Curve Constraint

Joint Spring & Damper Adds Extra Simulink State When Connected to a
Revolute
Each Joint Spring & Damper block connected to a revolute primitive now adds a
Simulink state to your model. These states are in addition to other normal Simulink
states, such as those associated with Integrator and Transfer Fcn blocks. See the
Simulink documentation for more about Simulink model states.
This new feature does not change the mechanical states of your model, those associated
with SimMechanics joint blocks. See the mech_stateVectorMgr command reference for
more about mechanical states.

Improved SolidWorks CAD Translation

The SolidWorks-to-SimMechanics translator and Physical Modeling XML import
command have been improved. See Importing Mechanical Models and the
import_physmod command reference in the SimMechanics User's Guide.
Mates in a CAD assembly (restrictions on the free motion of CAD parts) are now
translated into Joint blocks that reflect a particular combination of joint primitives,
such as Prismatic, Revolute, Spherical, Bushing, etc. Previously, all degrees of
freedom in a CAD assembly were translated into appropriately configured Custom
Joint blocks. Rigid connections between parts continue to be translated into Welds.
Blocks in SimMechanics models generated from Physical Modeling XML files are now,
by default, labeled with shorter names. You can change the naming convention in the
import_physmod command options.
20-2

R14SP3
Version: 2.3
New Features

R14SP3

New Shared Environment Block

The new Shared Environment block allows you to link two separate SimMechanics
block diagrams with a nonphysical connection. The block enforces the same machine
environment settings on both machines but adds no mechanical components (bodies or
degrees of freedom) to either. Two machines so connected require exactly one Machine
Environment block, rather than two.
See the Shared Environment block reference for further details.

Updated Body Spring & Damper Block

The Body Spring & Damper block no longer contains any degrees of freedom.
Previous versions of the Body Spring & Damper block contained six degrees of freedom
(DoFs) represented by a Joint. This Joint had to be taken into account when counting
DoFs and loops in your model.
The new Body Spring & Damper block instead uses a Shared Environment block to
connect the two sides and contains no DoFs. See their respective block references for
more information.

Normalizing Rotations
The Body dialog accepts various rotational forms (Euler angles, rotation matrix,
quaternion). The Body block now interprets these rotational forms in a slightly different
way, so that the standard normalization conditions on rotation matrices and quaternions
are consistently enforced. As a result, you might now see slightly different simulation
results from earlier versions.

New State Vector Commands

Four new SimMechanics commands allow you to manipulate the mechanical states of
your models. See the command references for more.
mech_get_states
mech_runtime_states
mech_set_states
mech_transfer_states
21-2

New import_physmod Dialog

The import_physmod command generates SimMechanics models from Physical
Modeling XML files. In addition to importing Physical Modeling XML through the
command line, you can now set up the command through a dialog.
See the import_physmod command reference for further information.

Demos Expanded
Two new demos have been added:
mech_flexible_four_bar models a flexible four bar machine.
mech_pole_vault models a rigid pole vaulter, with a discrete event.
The second demo has an associated MAT-file.

Documentation Enhancements
The SimMechanics User's Guide has been enhanced.
The review on representing motion has been revised.
The analyzing motion has been revised.
The computer-aided design (CAD) documentation (also available as a separate book)
has been significantly revised. See the CAD chapter.
A new chapter of case studies, based on the Stewart platform, has been added. The
studies apply advanced methods and tasks to this system. SimMechanics software
includes a related set of demo model and library files.
Degrees of freedom, states, closed topology, and constraints
Trimming and linearization
Designing controllers for the platform
Generating code versions of the model
Implementing code on dedicated hardware (hardware in the loop)

21-3

R14SP2
Version: 2.2.2
New Features

R14SP2

Demos Expanded
Two new demos have been added:
mech_sticky_box
mech_sticky_screw
Each demo has an associated MAT-file.
These demos illustrate static friction (stiction) implemented with the Joint Stiction
Actuator.

Documentation Enhancements
The online SimMechanics Help has been enhanced with links to four new Web-based AVI
animation files (one of them new in this release) that record SimMechanics simulations.
You can access these links most easily by using the Examples index in the Help browser,
under Prerecorded Animations.

22-2