Simscape™ Multibody™

Getting Started Guide

R2016a
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Simscape™ Multibody™ Getting Started Guide
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Revision History
March 2012 Online only New for Version 4.0 (Release R2012a)
September 2012 Online only Revised for Version 4.1 (Release R2012b)
March 2013 Online only Revised for Version 4.2 (Release R2013a)
September 2013 Online only Revised for Version 4.3 (Release R2013b)
March 2014 Online only Revised for Version 4.4 (Release R2014a)
October 2014 Online only Revised for Version 4.5 (Release R2014b)
March 2015 Online only Revised for Version 4.6 (Release R2015a)
September 2015 Online only Revised for Version 4.7 (Release R2015b)
March 2016 Online only Revised for Version 4.8 (Release R2016a)
(Renamed from SimMechanics™ Getting
Started)
 Contents

Introduction to Simscape Multibody Software

1
Simscape Multibody Product Description . . . . . . . . . . . . . . . 1-2
Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Required and Related Products . . . . . . . . . . . . . . . . . . . . . . . 1-3

Simscape Multibody Visualization Requirements . . . . . . . . . 1-3
Support for Simscape Multibody Animations . . . . . . . . . . . . . 1-3
Related Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Open Simscape Multibody Model Template . . . . . . . . . . . . . . 1-5

Creating a Multibody Model . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

Multibody Model Anatomy . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

Basic Model Components . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Model Actuation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Dynamical Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

Model Simple Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

Model Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Build Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Generate Subsystem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
Visualize Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
Save Custom Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19

Model Simple Pendulum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20

Model Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20
Build Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21
Specify Gravity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
Set Pendulum Starting Position . . . . . . . . . . . . . . . . . . . . . 1-22
Configure Solver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
Assemble Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
Simulate Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23

v
 Save Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-23

Analyze Simple Pendulum . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-24

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-24
Sense Pendulum Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25
Analyze Undamped Pendulum . . . . . . . . . . . . . . . . . . . . . . 1-26
Analyze Damped Pendulum . . . . . . . . . . . . . . . . . . . . . . . . 1-29
Analyze Damped and Driven Pendulum . . . . . . . . . . . . . . . 1-32

Simscape Multibody Technology Comparison . . . . . . . . . . . 1-36

vi Contents
 1

Introduction to Simscape Multibody

Software

• “Simscape Multibody Product Description” on page 1-2

• “Required and Related Products” on page 1-3
• “Open Simscape Multibody Model Template” on page 1-5
• “Creating a Multibody Model” on page 1-6
• “Multibody Model Anatomy” on page 1-8
• “Model Simple Link” on page 1-15
• “Model Simple Pendulum” on page 1-20
• “Analyze Simple Pendulum” on page 1-24
• “Simscape Multibody Technology Comparison” on page 1-36
1 Introduction to Simscape Multibody Software

Simscape Multibody Product Description

Model and simulate multibody mechanical systems

Simscape Multibody provides a multibody simulation environment for 3D mechanical

systems, such as robots, vehicle suspensions, construction equipment, and aircraft
landing gear. You can model multibody systems using blocks representing bodies, joints,
constraints, force elements, and sensors. Simscape Multibody formulates and solves the
equations of motion for the complete mechanical system. You can import complete CAD
assemblies, including all masses, inertias, joints, constraints, and 3D geometry, into your
model. An automatically generated 3D animation lets you visualize the system dynamics.

Simscape Multibody helps you develop control systems and test system-level
performance. You can parameterize your models using MATLAB® variables and
expressions, and design control systems for your multibody system in Simulink®. You
can integrate hydraulic, electrical, pneumatic, and other physical systems into your
model using components from the Simscape family of products. To deploy your models to
other simulation environments, including hardware-in-the-loop (HIL) systems, Simscape
Multibody supports C-code generation.

Key Features
• Single environment for simulating 3D mechanical systems together with multidomain
physical systems and control algorithms in Simulink
• Part definition tools, including standard geometry, extrusions defined in MATLAB,
and STEP files
• Mechanical joints and constraints covering standard and custom kinematic
relationships
• Simulation modes for analyzing motion and calculating forces
• 3D animation of multibody system dynamics
• Simscape Multibody Link utility, for interfacing to PTC Creo™ (Pro/ENGINEER®),
SolidWorks®, and Autodesk Inventor®; XML Schema, for interfacing with other CAD
platforms
• Support for C-code generation (with Simulink Coder™)

1-2
 Required and Related Products

Required and Related Products

In this section...
“Simscape Multibody Visualization Requirements” on page 1-3
“Support for Simscape Multibody Animations” on page 1-3
“Related Products” on page 1-3

Simscape Multibody Visualization Requirements

Simscape Multibody visualization requires Silicon Graphics OpenGL® graphics support
on your system to display and animate Simscape Multibody models.

You can improve your speed and graphics resolution by adding a graphics accelerator
hardware card to your system. Animation of simulations is sensitive to central processor
and graphics card speed and memory. Experiment with graphics hardware and system
settings to find a reasonable compromise between quality and speed for your system.

Support for Simscape Multibody Animations

Mechanics Explorer, the Simscape Multibody visualization utility, enables you to record
an animation of your model. The resulting animation video is in a compressed AVI
format encoded using the M-JPEG codec. You can play back an animation video using the
MATLAB function implay or an external AVI media player.

Related Products
You can extend the capability of Simscape Multibody using other physical modeling
products found in the Simscape family. Each physical modeling product gives you a set
of block libraries with which you can model common components found in industry and
academia: rigid bodies, gears, valves, solenoids, etc.

With the physical modeling products, you can model not only mechanical systems, but
also electrical, hydraulic, and power systems. You can model each system separately,
and then integrate the systems into a single multiphysics model where you can analyze
combined system performance.

Physical Modeling Product Family

The physical modeling family includes five products:

1-3
1 Introduction to Simscape Multibody Software

• Simscape Driveline™, for modeling and simulating drivetrain systems

• Simscape Electronics™, for modeling and simulating electronic systems
• Simscape Fluids™, for modeling and simulating hydraulic systems
• Simscape Multibody, for modeling and simulating three-dimensional mechanical
systems
• Simscape Power Systems™, for modeling and simulating electrical power systems

1-4
 Open Simscape Multibody Model Template

Open Simscape Multibody Model Template

You can start a new Simscape Multibody model directly from the MATLAB command
prompt by entering smnew. The smnew function opens the Simscape Multibody block
library and a model template with commonly used blocks. The figure shows the model
template.

See “Model Simple Link” on page 1-15 for an example on how to model a body using
the Simscape Multibody model template. See “Model Simple Pendulum” on page 1-20
for an example on how to assemble bodies into a simple mechanism.

1-5
1 Introduction to Simscape Multibody Software

Creating a Multibody Model

1-6
Creating a Multibody Model

1-7
1 Introduction to Simscape Multibody Software

Multibody Model Anatomy

In this section...
“Basic Model Components” on page 1-8
“Model Actuation” on page 1-10
“Dynamical Sensing” on page 1-12

At its core, a multibody system is a set of bodies linked through joints and bound by
kinematic constraints such as gears. Forces and torques of various types enable you to
actuate the various bodies, while sensors enable you to sense the resulting motion. In
Simscape Multibody software, you use blocks to directly represent these components.

Basic Model Components

Consider the Simscape Multibody four-bar featured example. You can open this model
at the MATLAB command prompt by entering sm_four_bar. The model consists of
solid body subsystems interconnected through Joint blocks. The Joint blocks define the
degrees of freedom available between bodies. The body subsystems define, through an
underlying block diagram, the solid properties of the body.

1-8
 Multibody Model Anatomy

Basic Components of sm_four_bar Model

The body subsystems in turn consist of Solid blocks interconnected through Rigid
Transform blocks. The Solid blocks provide the solid properties, including geometry,
inertia, color, and frames—axis triads that encode all position and orientation
information in a model. The Rigid Transform blocks rotate and translate the solids to
ensure proper body assembly.

The figure shows the underlying block diagram for a binary link body subsystem. This
diagram includes three Solid blocks, representing the central and distal portions of the
binary link. Two Rigid Transform blocks translate the distal solids to their proper
locations near the ends of the central solid. The diagram includes a strictly optional
Reference Frame block.

1-9
1 Introduction to Simscape Multibody Software

Body Subsystem Components

Other common blocks in a model include:

• World Frame — Adds an inertial reference frame to the model.

• Rigid Transform — Rotates and translates bodies and other frames relative to each
other.
• Mechanism Configuration — Defines the gravitational constant in a model.
• Solver Configuration — Sets Simscape local solver options such as types,
tolerances, and time steps. This is the only required block in a model.

Model Actuation
You can actuate a model by applying a force or torque to a rigid body or to a joint. To
represent forces and torques acting on a rigid body, Simscape Multibody provides a
Forces and Torques library. Drag a block from this library and connect it to the rigid
body frame(s) that you want to apply the force or torque to.

Block Function
External Force and Torque General force and/or torque originating
outside of the multibody model
Internal Force General force pair between two arbitrary
frames
Spring and Damper Force Spring-damper force pair between two
arbitrary frames

1-10
 Multibody Model Anatomy

Block Function
Inverse Square Law Force Force pair with inverse dependence on the
square distance between two arbitrary
frames (e.g., Coulomb electrostatic forces)
Gravitational Field Gravitational pull of a point mass on all
rigid bodies as a function of their distances
to the point mass itself

The figure shows a four-bar model with an External Force and Torque block for force and
torque prescription at a crank link frame.

To specify the force or torque acting at a joint, Simscape Multibody provides a selection of
actuation inputs directly in the joint blocks. Each joint primitive—the basic component of
a joint block—provides a selection of actuation inputs specific to that primitive.

Joint actuation inputs can be of two types:

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1 Introduction to Simscape Multibody Software

• Motion — Specify the time-varying trajectory of a given joint primitive.

• Force or torque — Specify the time-varying actuation force or torque acting at a given
joint primitive.

The figure shows a four-bar model with an actuation torque acting at a revolute joint.

Dynamical Sensing
You can sense various dynamical variables between frame pairs, e.g., for analysis or
control design. Sensing outputs can be of two types:

• Motion — Compute and output the relative position, velocity, or acceleration between
two Simscape Multibody frames. You can sense motion between joint frames, by

1-12
 Multibody Model Anatomy

using the sensing capability of joint blocks, or between arbitrary frames, by using the
Transform Sensor block.
• Force or torque — Compute and output the forces and torques acting between two
Simscape Multibody frames. You can sense force and torque between the port frames
of certain Forces and Torques blocks, such as the Inverse Square Law Force block, or
between the port frames of a joint block.

Joint blocks enable you to sense different types of forces and torques between their
respective port frames, including:

• Actuation force or torque acting at a given joint primitive.

• Constraint force and torque acting joint-wide to prevent motion normal to the joint
degrees of freedom.
• Total force and torque, including constraint and joint primitive actuation
contributions, acting joint-wide.

The figure shows a four-bar model with a Transform Sensor block for trajectory
coordinate sensing between a coupler link frame and the world frame.

1-13
1 Introduction to Simscape Multibody Software

Related Examples
• “Model Simple Link” on page 1-15
• “Model Simple Pendulum” on page 1-20

1-14
 Model Simple Link

Model Simple Link

In this section...
“Model Overview” on page 1-15
“Build Model” on page 1-15
“Generate Subsystem” on page 1-17
“Visualize Model” on page 1-18
“Save Custom Block” on page 1-19

Model Overview
Mechanical links are common building blocks in linkages, mechanisms, and machines.
The simple pendulum is an example with one link. In this tutorial, you model a simple
link with two end frames that you can later connect to joints. Rigid Transform blocks
provide the end frames, while a Solid block provides geometry, inertia, and color. For
simplicity, the model assumes the link has a brick shape.

Build Model
1 At the MATLAB command line, enter smnew. The Simscape Multibody block library
and a model template with commonly used blocks open up.
2 Make a copy of the Rigid Transform block and paste it in the model. The Rigid
Transform blocks enable you to create new frames to which you can connect joints
during multibody assembly.

1-15
1 Introduction to Simscape Multibody Software

3 Delete the blocks Simulink-PS Converter, PS-Simulink Converter, and Scope. You do
not need these blocks in this tutorial.
4 Connect the remaining blocks as shown in the figure. Ensure that the base frame
ports (B) of the Rigid Transform blocks both face the Solid block frame port. Since
each Rigid Transform block applies a spatial transformation with respect to its base
frame, switching port connections generally changes the spatial relationship between
the two frames.

5 In the Solid block dialog box, specify the following parameters. Later, you define
the MATLAB variables shown using a Subsystem block that contains the Solid and
Rigid Transform blocks. Among its advantages, this approach enables you to update
variables used in multiple blocks from a single place—the Subsystem block dialog
box.

Parameter Value Units

Geometry > Dimensions [L W H] Change to cm
Inertia > Density rho Default units
Graphic > Visual rgb Not applicable
Properties > Color
6 In the dialog boxes of the Rigid Transform and Rigid Transform1 blocks, specify the
following parameters. These parameters encode the offset between the base and

1-16
 Model Simple Link

follower port frames of the Rigid Transform blocks, located at the link ends, with
respect to the Solid reference port frame.

Parameter Rigid Transform1 Rigid Transform Units

Translation > Standard Axis Standard Axis Not applicable
Method
Translation > -X +X Not applicable
Axis
Translation > L/2 L/2 Change to cm
Offset

Generate Subsystem
1 Select the Solid block and the two Rigid Transform blocks.
2 Right-click the highlighted region and select Create Subsystem from Selection.
Simulink adds a new Subsystem block containing the Solid and Rigid Transform
blocks. At the end of the tutorial, this will be a custom block representing the simple
link rigid body.

3 Right-click the Subsystem block, and select Mask > Create Mask. A mask editor
opens up, enabling you to specify the numerical values of the MATLAB variables you
entered in the Solid and Rigid Transform block dialog boxes.

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1 Introduction to Simscape Multibody Software

4 In the Parameters & Dialog tab of the Mask Editor window, add five edit fields

to the Parameters folder. You can find this folder in the Dialog box pane. In
the edit fields, specify the following parameters and click OK. Prompt is the desired
text for each parameter in the Subsystem block dialog box. Name is the MATLAB
variable associated with each Subsystem block parameter.

Prompt Name
Length (cm) L
Width (cm) W
Thickness (cm) H
Density (kg/m^3) rho
Color [R G B] rgb
5 Double-click the Subsystem block dialog box and enter the following numerical
values. These are the values of the MATLAB variables that you entered in the Solid
and Rigid Transform block dialog boxes.

Parameter Value
Length (cm) 20
Width (cm) 1
Thickness (cm) 1
Density (kg/m^3) 2700
Color [R G B] [0.25 0.40 0.70]

Visualize Model
Update the block diagram. You can do this by selecting, in the Simulink menu bar,
Simulation > Update Diagram. Mechanics Explorer opens with a front view of the
simple link model. In the Mechanics Explorer toolstrip, select the isometric view button

to obtain the 3-D view shown below. To view the frames present in the model—
including those you created using the Rigid Transform blocks—select View > Show
Frames in the Mechanics Explorer menu bar.

1-18
 Model Simple Link

Save Custom Block

Rename the Subsystem block Simple Link and save it in a custom block library. You
reuse this block in tutorial “Model Simple Pendulum” on page 1-20.

Simple Link Custom Block

1-19
1 Introduction to Simscape Multibody Software

Model Simple Pendulum

In this section...
“Model Overview” on page 1-20
“Build Model” on page 1-21
“Specify Gravity” on page 1-22
“Set Pendulum Starting Position” on page 1-22
“Configure Solver” on page 1-22
“Assemble Model” on page 1-22
“Simulate Model” on page 1-23
“Save Model” on page 1-23

Model Overview
The pendulum is the simplest mechanical system you can model. This system contains
two rigid bodies, a link and a fixed pivot, connected by a revolute joint. In this tutorial,
you model and simulate a pendulum using the custom link block you created in “Model
Simple Link” on page 1-15. A Revolute Joint block provides the rotational degree of
freedom between the link and the world frame.

1-20
 Model Simple Pendulum

Build Model
1 At the MATLAB command prompt, enter smnew. The Simscape Multibody block
library and a model template with commonly used blocks open up.
2 Delete blocks Simulink-PS Converter, PS-Simulink Converter, Scope, and Rigid
Transform. You do not need them in this tutorial.
3 Drag the Simple Link custom block you created in the tutorial “Model Simple Link”
on page 1-15 into the model.
4 Drag a Revolute Joint block into the model. You can find this block in the
Simscape > Multibody > Joints library. This block provides one rotational degree
of freedom between its port frames.
5 Connect the blocks as shown in the figure. The port orientation of the Revolute
Joint block becomes important when you specify joint state targets, prescribe
joint actuation inputs, or sense joint dynamic variables. The Revolute Joint block
interprets each quantity as that applied to the follower frame with respect to
the base frame, so switching the port connections can affect model assembly and
simulation.

6 In the Solid block dialog box, specify the following parameters. This block connects
rigidly to the World frame and therefore has no effect on model dynamics. You can
leave the inertia parameters in their default values.

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1 Introduction to Simscape Multibody Software

Parameter Value Units

Geometry > Dimensions [4 4 4] Change to cm
Graphic > Visual [0.80 0.45 0] Not applicable
Properties > Color

Specify Gravity
The Revolute Joint block uses the common Z axis of the base and follower frames as the
joint rotation axis. To ensure the pendulum oscillates under the effect of gravity, change
the gravity vector so it no longer aligns with the Z axis. To do this, in the Mechanism
Configuration block dialog box, set the Uniform Gravity > Gravity parameter to [0
-9.81 0].

Set Pendulum Starting Position

You can specify the desired joint angle using the State Targets menu in the Revolute
Joint block dialog box. To do this, select State Targets > Position and enter the
desired joint angle. For this tutorial, you can leave the angle in its default value, which
corresponds to a horizontal pendulum starting position.

Configure Solver
1 In the Simulink Editor menu bar, select Simulation > Model Configuration
Parameters.
2 In the Solver tab, set the Solver parameter to ode15s (stiff/NDF). This solver
is the recommended choice for physical models.
3 Set Max step size to 0.01 and click OK. The small step size increases the
simulation accuracy and produces a smoother animation in Mechanics Explorer.
Small step sizes can have a detrimental effect on simulation speed but, in such a
simple model, a value of 0.01 provides a good balance between simulation speed and
accuracy.

Assemble Model
Update the block diagram. You can do this in the Simulink Editor menu bar, by selecting
Simulation > Update diagram. Mechanics Explorer opens with a 3-D view of the
model in its initial configuration.

1-22
 Model Simple Pendulum

In the Mechanics Explorer toolstrip, check that the View convention parameter is set
to Y up (XY Front). This view convention ensures that gravity is vertically aligned
on your screen. Select a standard view button to refresh the Mechanics Explorer display.
The figure shows a front view of the model. Save the visualization settings by clicking the
Save explorer configuration to model button .

Simulate Model
Run the simulation. You can do this through the Simulink Editor menu bar, by selecting
Simulation > Run. Mechanics Explorer plays a physics-based animation of the
pendulum model.

Save Model
Save the model in a convenient folder under the name simple_pendulum. You reuse this
model in the tutorial “Analyze Simple Pendulum” on page 1-24.

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1 Introduction to Simscape Multibody Software

Analyze Simple Pendulum

In this section...
“Overview” on page 1-24
“Sense Pendulum Motion” on page 1-25
“Analyze Undamped Pendulum” on page 1-26
“Analyze Damped Pendulum” on page 1-29
“Analyze Damped and Driven Pendulum” on page 1-32

Overview
In this tutorial, you explore the various forces and torques that you can add to a model.
Then, using blocks with motion sensing capability, you analyze the resulting dynamic
response of the model. The end result is a set of time-domain and phase plots, one for
each combination of forces and torques. You create these plots using MATLAB commands
with Simscape Multibody motion outputs as arguments.

Your starting point is the simple pendulum model that you built in “Model Simple
Pendulum” on page 1-20. By adding forces and torques to this model, you incrementally

1-24
 Analyze Simple Pendulum

change the pendulum from undamped and free to damped and driven. The forces and
torques that you apply include:

• Gravitational force (Fg) — Global force, acting on every rigid body in direct proportion
to its mass, that you specify in terms of the acceleration vector g. You specify this
vector using the Mechanism Configuration block.
• Joint damping (Fb) — Internal torque, between the pendulum and the joint fixture,
that you parameterize in terms of a linear damping coefficient. You specify this
parameter using the Revolute Joint block that connects the pendulum to the joint
fixture.
• Actuation torque (FA) — Driving torque, between the pendulum and the joint fixture,
that you prescribe directly as a Simscape physical signal. You prescribe this signal
using the Revolute Joint block that connects the pendulum to the joint fixture.

Sense Pendulum Motion

1 Open the simple_pendulum model that you created in tutorial “Model Simple
Pendulum” on page 1-20.
2 In the Sensing menu of the Revolute Joint block dialog box, select the following
variables:

• Position
• Velocity

The block exposes two additional physical signal ports, labeled q and w, that output
the angular position and velocity of the pendulum with respect to the world frame.
3 Drag the following blocks into the model. You use them to output the joint position
and velocity to the MATLAB base workspace.

Library Block Quantity

Simscape > Utilities PS-Simulink 2
Converter
Simulink > Sinks To Workspace 2
4 Change the Variable name parameters in the To Workspace block dialog boxes
to q and w. These variables make it easy to identify the joint variables that the To
Workspace blocks output during simulation—position, through the Revolute Joint
block port q, and velocity, through the Revolute Joint block port w.

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1 Introduction to Simscape Multibody Software

5 Connect the blocks as shown in the figure. Ensure that the To Workspace block with
variable name q connects, through the PS-Simulink Converter block, to the Revolute
Joint block port q, and that the To Workspace block with variable name w connects to
the Revolute Joint block port w.

6 Save the model under a different name, e.g., simple_pendulum_analysis, in a

convenient folder.

Analyze Undamped Pendulum

1 Run the simulation. You can do this in the Simscape Multibody Editor menu bar by
selecting Simulation > Run. Mechanics Explorer opens with a 3-D animation of the
simple pendulum model.
2 Plot the joint position and velocity with respect to time, e.g., by entering the
following code at the MATLAB command prompt:

figure; % Open a new figure

hold on;
plot(q); % Plot the pendulum angle
plot(w); % Plot the pendulum angular velocity
The figure shows the resulting plot.

1-26
 Analyze Simple Pendulum

3 Plot the joint angular velocity with respect to the angular position, e.g., by entering
the following code at the MATLAB command prompt.

figure;
Plot(q.data, w.data);
The result, shown in the figure, is the phase plot of the joint corresponding to a
starting position of zero degrees with respect to the horizontal plane.

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1 Introduction to Simscape Multibody Software

Try simulating the model using different starting angles. You can change the
starting angle in the State Targets > Position menu of the Revolute Joint block
dialog box. The figure shows a compound phase plot for starting angles of -80, -40, 0,
40, and 80 degrees.

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 Analyze Simple Pendulum

Analyze Damped Pendulum

1 In the Revolute Joint block dialog box, set Internal Mechanics > Damping to
8e-5 (N*m)/(deg/s). The damping coefficient causes energy dissipation during
motion, resulting in a gradual decay of the pendulum oscillation amplitude.
2 Ensure that State Targets > Position > Value is set to 0 deg.
3 Run the simulation.
4 Plot the joint position and velocity with respect to time. To do this, at the MATLAB
command prompt, you can enter this code:

figure;
hold on;
plot(q);
plot(w);
The figure shows the resulting plot. Note that the pendulum oscillations decay with
time due to damping. At larger damping values, the pendulum becomes overdamped,
and the oscillations disappear altogether.

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1 Introduction to Simscape Multibody Software

5 Plot the joint phase plot. To do this, at the MATLAB command prompt, you can enter
this code:

figure;
plot(q.data, w.data);
The figure shows the resulting plot.

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 Analyze Simple Pendulum

Try simulating the model using different starting angles. You can change the
starting angle in the State Targets > Position menu of the Revolute Joint block
dialog box. The figure shows a compound phase plot for starting angles of -240, -180,
-120, -60, 0, and 60 degrees.

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1 Introduction to Simscape Multibody Software

Analyze Damped and Driven Pendulum

1 In the Revolute Joint block dialog box, set Actuation > Torque to Provided by
Input. The block exposes a physical signal input port that you can use to prescribe
the joint actuation torque.
2 Drag these blocks into the model.

Library Block
Simscape > Utilities Simulink-PS Converter
Simulink > Sources Sine Wave

The Sine Wave block provides a periodic torque input as a Simulink signal. The
Simulinik-PS Converter block converts the Simulink signal to a Simscape physical
signal compatible with Simscape Multibody blocks.
3 Connect the blocks as shown in the figure.

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 Analyze Simple Pendulum

4 In the Sine Wave block dialog box, set Amplitude to 0.06. This amplitude
corresponds to an actuation torque oscillating between -0.06 N and 0.06 N.
5 In the Revolute Joint block dialog box, ensure that State Targets > Position >
Value is set to 0 deg.
6 Run the simulation.
7 Plot the joint position and velocity with respect to time. To do this, at the MATLAB
command prompt, you can enter this code:

figure;
hold on;
plot(q);
plot(w);
The figure shows the resulting plot.

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1 Introduction to Simscape Multibody Software

8 Plot the joint phase plot. To do this, at the MATLAB command prompt, you can enter
this code:

figure;
plot(q.data, w.data);
The figure shows the resulting plot.

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Analyze Simple Pendulum

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1 Introduction to Simscape Multibody Software

Simscape Multibody Technology Comparison

Simscape Multibody software contains two technologies: first generation and latest
generation. First-generation technology includes the block library and visualization
utility found in Simscape Multibody releases prior to R2012a. Latest-generation
technology introduces a simpler modeling paradigm with a new block library, a powerful
computational engine, an advanced visualization utility based on computer graphics, and
tighter integration with Simscape products.

Simscape Multibody first- and latest-generation technologies have different sets of

capabilities. Which technology to use depends on the effects you need to model. The latest
Simscape Multibody generation is recommended for all models except those requiring
time-varying constraints or variable mass.

The table summarizes the differences in functionality between the two Simscape
Multibody generations.

Feature Simscape Multibody First Simscape Multibody

Generation
Mass/Inertia Calculation Manual only Automatic or manual
Solid Geometry No Yes
Animation Replay No Yes
3-D Model Exploration Limited Yes
Initial State Targets Limited Yes
Simscape Logging No Yes
Code Generation Yes Yes
CAD Import Yes Yes
Motion Actuation Yes Yes
Force/Torque Sensing Yes Yes
Complex Constraints1 Yes Yes2
Variable Mass/Gravity Yes Yes3
Gravitational Fields No Yes

1
Point-on-curve, gear, velocity, and screw constraints

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 Simscape Multibody Technology Comparison

2
All except velocity constraints
3
Variable gravity only

Simscape Multibody continues to support first-generation technology. You can maintain

and simulate legacy models built with first-generation blocks. You also can still create a
new first-generation model using the Simscape Multibody First Generation block library.

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