Illustrates the use of motion actuation to determine the actuator torques needed for the robot to achieve a given welding task. The system consists of a seven degree of freedom robot carrying a welding torch. The tip of the torch needs to trace the joints being welded. In this example the tip of the torch is made to trace (using motion actuation) a plus sign, a circle and a star sign on the workpiece. The torch is lifted off the workpiece when transitioning between the different shapes. The motion of the welding torch is specified and the actuator torques required at the various joints of the robot to achieve this motion is computed.

The example shows how you can sense forces and torques acting at joints. A potter's wheel spins with a piecewise linear velocity profile while holding a piece of clay off center. The clay creates a dynamic imbalance, generating periodic constraint forces at the joints. Viscous damping accounts for energy dissipation in the axle.

Models a self-locking worm and gear constraint. The model shows a mechanical jack driven by a torque applied to a worm. The model includes two worm jack subsystems identical in every sense except for the value of the worm lead angle. Both subsystems have friction models applied to their Worm and Gear Constraint blocks.

Models a lead screw with friction. The constraint force in the lead screw is measured and used to calculate the friction torque within the lead screw. A continuous stick-slip friction model is used to determine the coefficient of friction based on the relative rotational speed of the two parts connected by the lead screw.

This model simulates an electrically operated 1-DOF bread slicing mechanism. The electrical motor circuit is modeled in Simscape™ while the bread slicing mechanism is modeled in Simscape Multibody™. The model uses a Revolute-Rotational Interface block (blue block) to interface the electrical and 3D mechanical parts of the model.

This model simulates a five cylinder radial engine. The pressure dynamics inside the cylinders are modelled using the Simscape™ Gas library. The 3D mechanical components are modelled using Simscape Multibody™. See inside any of the blocks called "Force Model" to see how the 1D and 3D mechanical parts of the model are interfaced. The pressure model is an ideal pressure source which applies pressure based on the crank angle. This model can be replaced with a more realistic pressure model of the cylinder chamber. The cylinders fire in the sequence - A C E B D providing a power stroke every 144 deg of crank rotation.

A dump trailer powered by a double-acting hydraulic cylinder. The cylinder actuates a scissor hoist mechanism that raises and lowers the dump bed. The model provides an example of how to interface Simscape™ Multibody™ components with Simscape so that all mechanical aspects of the system are modeled within Simscape Multibody.

A toy bumper car traveling down a series of ramps while undergoing intermittent collisions. Spatial Contact Force blocks are used to model the friction and normal forces between every pair of geometries that may potentially come into contact during the simulation (e.g., between one of the car's wheels and a railing). Each Spatial Contact Force block is able to generate brief high-impact contact forces to model collisions, as well as sustained contact forces to model rolling and sliding.

A hydraulically actuated backhoe model with closed-loop PID control. The mechanism consists of a fixed vehicle model with a base mounting bracket. The bracket allows the backhoe arm to swivel left and right. Additionally, this arm has three rotational degrees of freedom for controlling the position of the bucket relative to the base swivel point.