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Thomas Dehaeze
2021-02-20 23:09:27 +01:00
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<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-04-17 ven. 09:35 -->
<!-- 2021-02-20 sam. 23:08 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Simscape Model</title>
<meta name="generator" content="Org mode" />
<meta name="author" content="Dehaeze Thomas" />
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
</head>
<body>
<div id="org-div-home-and-up">
<a accesskey="h" href="./index.html"> UP </a>
|
<a accesskey="H" href="./index.html"> HOME </a>
<a accesskey="H" href="../../index.html"> HOME </a>
</div><div id="content">
<h1 class="title">Simscape Model</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orge12e7ea">1. Solid bodies</a></li>
<li><a href="#org6e14a53">2. Frames</a></li>
<li><a href="#orgbcbe86d">3. Joints</a></li>
<li><a href="#orgafe97a3">4. Measurements</a></li>
<li><a href="#orgdee3066">5. Excitation</a></li>
<li><a href="#org0e399eb">1. Solid bodies</a></li>
<li><a href="#org8fe7328">2. Frames</a></li>
<li><a href="#orgf4c96ec">3. Joints</a></li>
<li><a href="#orge58c3e3">4. Measurements</a></li>
<li><a href="#org6556ccd">5. Excitation</a></li>
</ul>
</div>
</div>
@@ -44,8 +39,8 @@ A <a href="https://.mathworks.com/products/simscape.html">simscape</a> model per
<a href="https://mathworks.com/products/simmechanics.html">Simscape Multibody</a> permits to model multibody systems using blocks representing bodies, joints, constraints, force elements, and sensors.
</p>
<div id="outline-container-orge12e7ea" class="outline-2">
<h2 id="orge12e7ea"><span class="section-number-2">1</span> Solid bodies</h2>
<div id="outline-container-org0e399eb" class="outline-2">
<h2 id="org0e399eb"><span class="section-number-2">1</span> Solid bodies</h2>
<div class="outline-text-2" id="text-1">
<p>
Each solid body is represented by a <a href="https://mathworks.com/help/physmod/sm/ref/solid.html">solid block</a>.
@@ -54,8 +49,8 @@ The geometry of the solid body can be imported using a <code>step</code> file. T
</div>
</div>
<div id="outline-container-org6e14a53" class="outline-2">
<h2 id="org6e14a53"><span class="section-number-2">2</span> Frames</h2>
<div id="outline-container-org8fe7328" class="outline-2">
<h2 id="org8fe7328"><span class="section-number-2">2</span> Frames</h2>
<div class="outline-text-2" id="text-2">
<p>
Frames are very important in simscape multibody, they defined where the forces are applied, where the joints are located and where the measurements are made.
@@ -67,8 +62,8 @@ They can be defined from the solid body geometry, or using the <a href="https://
</div>
</div>
<div id="outline-container-orgbcbe86d" class="outline-2">
<h2 id="orgbcbe86d"><span class="section-number-2">3</span> Joints</h2>
<div id="outline-container-orgf4c96ec" class="outline-2">
<h2 id="orgf4c96ec"><span class="section-number-2">3</span> Joints</h2>
<div class="outline-text-2" id="text-3">
<p>
Solid Bodies are connected with joints (between frames of the two solid bodies).
@@ -78,7 +73,7 @@ Solid Bodies are connected with joints (between frames of the two solid bodies).
There are various types of joints that are all described <a href="https://mathworks.com/help/physmod/sm/ug/joints.html">here</a>.
</p>
<table id="orgbc35961" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="org7462d76" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 1:</span> Degrees of freedom associated with each joint</caption>
<colgroup>
@@ -211,7 +206,7 @@ Joint blocks are assortments of joint primitives:
<li><b>Constant Velocity</b>: Allows rotation at constant velocity between intersection through arbitrarily aligned shafts: <code>CV</code></li>
</ul>
<table id="org3352129" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="orgac35e84" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 2:</span> Joint primitives for each joint type</caption>
<colgroup>
@@ -503,8 +498,8 @@ Composite Force/Torque sensing:
</div>
</div>
<div id="outline-container-orgafe97a3" class="outline-2">
<h2 id="orgafe97a3"><span class="section-number-2">4</span> Measurements</h2>
<div id="outline-container-orge58c3e3" class="outline-2">
<h2 id="orge58c3e3"><span class="section-number-2">4</span> Measurements</h2>
<div class="outline-text-2" id="text-4">
<p>
A transform sensor block measures the spatial relationship between two frames: the base <code>B</code> and the follower <code>F</code>.
@@ -528,8 +523,8 @@ If we want to simulate an <b>inertial sensor</b>, we just have to choose <code>B
</div>
</div>
<div id="outline-container-orgdee3066" class="outline-2">
<h2 id="orgdee3066"><span class="section-number-2">5</span> Excitation</h2>
<div id="outline-container-org6556ccd" class="outline-2">
<h2 id="org6556ccd"><span class="section-number-2">5</span> Excitation</h2>
<div class="outline-text-2" id="text-5">
<p>
We can apply <b>external forces</b> to the model by using an <a href="https://mathworks.com/help/physmod/sm/ref/externalforceandtorque.html">external force and torque block</a>.
@@ -543,7 +538,7 @@ Internal force, acting reciprocally between base and following origins is implem
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-04-17 ven. 09:35</p>
<p class="date">Created: 2021-02-20 sam. 23:08</p>
</div>
</body>
</html>