Center of mass of a system composed by sub-assemblies in SimMechanics 2G

Hello, I created a robot in SolidWorks and imported it in SimMechanics 2G (I'm working in Matlab 2014a). I would like to compute the coordinates of the robot's main body center of mass, but since in the CAD software this part was defined as an assembly composed by sub-assemblies, I have a block composed by sub-bodies, whose CoM is available.

However, I'm interested in the total CoM of the part composed by those sub-components. In the Model Explorer, if I select my body block, and tick "Show COMs", the software is able to show it in the window along with the others. Thus I'm wondering if there's a direct way to extract the coordinates, that must be stored somewhere. Thanks for any help.

Cheers, Marcello

Answer 1

[Steve Miller]

Hi Marcello,

You can extract the information you are looking for using the Simscape Multibody Inertia Sensor, added in R2019b.

https://www.mathworks.com/help/physmod/sm/ref/inertiasensor.html

It can calculate the CG and other quantities for a set of rigidly connected parts or for a set of parts connected by joints.

--Steve