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SimMechanics Example

SimMechanics Example. SimMechanic : Importing a Model from SolidWorks. SimMechanic : Importing a Model from SolidWorks. Use of Joint Sensors Display angle of revolute joint 1

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SimMechanics Example

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  1. SimMechanics Example

  2. SimMechanic: Importing a Model from SolidWorks

  3. SimMechanic: Importing a Model from SolidWorks

  4. Use of Joint Sensors • Display angle of revolute joint 1 • Joint Sensor measures linear/angular position, velocity, acceleration, computed force/torque and/or reaction force/torque of a Joint primitive.

  5. Use of Joint Sensors and Actuators • Actuate with motion: • No angular acceleration • Angular velocity of 180 degrees /sec. • Angular position is the integral of angular acceleration • Display reaction torques measured on Follower (not Base) • Joint Sensor provides reaction torques about the X,Y, and Z axes

  6. Introduction of a Servomotor Model • Modified servomotor model that provides access to the angular acceleration, velocity, and position of the motor.

  7. Validation of Servomotor Model with SimMechanics

  8. Validation of Servomotor Model with SimMechanics

  9. Validation of Servomotor Model with SimMechanics

  10. Validation of Servomotor Model with SimMechanics • Load inertia (JL) is set to wheel inertia • Wheel inertia is determined from SolidWorks using Mass Properties

  11. Validation of Servomotor Model with SimMechanics • Motor RPM using SimMechanics and Simulink

  12. Alternate Method for Integrating Motor Model

  13. Alternate Method: Motor Model

  14. Double Pendulum Driven by Motor

  15. Double Pendulum: Motor Model

  16. Double Pendulum Driven by Gear Motor

  17. Gear Motor Model

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