MATLAB SIMMECHANICS 3 - VISUALIZATION AND IMPORT GUIDE User Manual download pdf (Page 22)

1 Introduction to SimMecha nic s ™ Softwar e

A complete rigid body subsystem contains the following:

• Frames — Construct with position and orientation in space.

• Physical properties — Geometry, inertia, and graphic parameters of a solid.

Add Fra

mes

To add frames to a rigid body subsystem, you use the Rigid Transform block.

The block rotates and/or translates a base frame t o obtain a follower frame. A

chain of Rigid T ransform blocks represents a chain of frames. Connect the

referenceframeportofaSolidblocktoaframeportorlinetogivetheframea

position and orientation in space. See “Representing Frames”.

The binary link subsystem contains three Solid blocks rigidly connected

with two Rigid T ran sf orm blocks. Each Rigid Transform block translates a

local reference frame, located at the center of the link, by an amount equal

to ha lf the link length along the length axis. The two end frames serve as

joint connection f rames.

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MATLAB SIMMECHANICS 3 - VISUALIZATION AND IMPORT GUIDE User Manual Page 22