Updated 24 Jun 2020
This file contains a library and example models showing how to extend Simscape Multibody 3D models with physical effects modeled in Simscape. Simple demonstration models of hydromechanical and electromechanical systems are provided to show how to create complete system models to test integrated designs.
Please read the README.txt file to get started.
Use the Download button to get files for the latest MATLAB release.
For older MATLAB releases, use the links below.
For R2019b: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/archive/22.214.171.124.zip
For R2019a: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/archive/126.96.36.199.zip
For R2018b: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/archive/188.8.131.52.zip
For R2018a: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/archive/184.108.40.206.zip
For R2017b: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/archive/220.127.116.11.zip
For R2017a: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/archive/18.104.22.168.zip
For R2016b: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/archive/22.214.171.124.zip
For R2016a: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/archive/126.96.36.199.zip
For R2015a: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/archive/188.8.131.52.zip
See how to defining bodies in Simscape Multibody by watching this video (5 min):
Learn more about multibody simulation with Simscape Multibody by watching this webinar
Find other Simscape examples by searching posts for the keyword "physical modeling"
Learn more about MathWorks Simscape Products:
Steve Miller (2020). Simscape Multibody Multiphysics Library (https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/releases/tag/184.108.40.206), GitHub. Retrieved .
It takes much time to simulate model with "Rotational Hard Stop Friction"
Calculating speed is e-4 order.
Do you have any idea about this problem?
Yes that worked, I completely spaced on running the setup first. Thank you! --Chris
Hi Christopher - I just downloaded the zip file and tested it and it worked fine. Did you run startup_sm_ssci first? That script builds forcesPS_lib.slx --Steve
Hello, I am running into an error for an unresolved library link for the 2017b Example, Joint Limits and Friction Methods in a Hinge. For both of the Joint Actuation and Transform Sensor parts to this example, neither of the Friction or Hard Stop blocks work, and instead display the message: "Cannot find library called 'forcesPS_lib'.". I was really hoping to use these blocks for my project, and I would be very delighted if I could receive some assistance with this matter. --Chris
Hi Abdullah - can you email me directly with the steps you ran that produced this error? Don't post the steps here, it will be confusing for others. I cannot reproduce this error. --Steve
I've got this warning while adding he library, I'm using Matlab R2017b btw.
"Warning: Function power has the same name as a MATLAB builtin. We suggest you rename the function to avoid a potential name conflict. "
any ideas please ?
Could you please send me the Multibody Multiphysics library for matlab R2019b?
My email: email@example.com
Please Steve, I am a university student, and this version is not required, you will help me, please.
Could you please send me the Multibody Multiphysics library for matlab R2015a?
My email: firstname.lastname@example.org
I have 2019a. The startup file only opens up matlab and doesnt download. why is this?
Hi Steve, Would it be possible to please send me the version for MATLAB 2016a? My email is email@example.com......Thank you so much....
Sorry typo on the email... Dear Steve, this library looks great. Would it be possible to please send me the version for MATLAB 2015a? My email is firstname.lastname@example.org. Thank you so much.
@steve - okay, it's working now. Thank you!
@Don Yeo - did you run startup_sm_ssci.m first? You have to run that before opening the examples, as it adds the library to the path.
Hi, I am unable to run the examples as the error message shown was unable to find the forcesPS_library. Can anybody assist me on this please? Thank you.
@Elisa - custom joints can be created by chaining joints together, as long as the set of joints does not create a degree of freedom with no inertia that can rotate/translate freely with no inertia. This library would help you add custom forces to a joint, to create something like bushings in your car (permit some movement, but not completely free).
do you think that with the support of this library/interface I could create a custom joint from my own?
Why I cannot look at the source code of multibody blocks (for example joints)?
thank in advance
Very detailed and contains multi domain simulation. Good pacakge
Really helpful. Thanks
This is really helpful! I'm surprised this functionality is so hard to find, and not included in the SimScape Library.
Sorry found it
Cylinder_Lift/Translational Simscape Intf'. I get an error saying failing to load that. Where can I download that from?
Great video - beautiful models.
See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/releases/tag/220.127.116.11
See release notes for this release on GitHub: https://github.com/mathworks/Simscape-Multibody-Multiphysics-Library/releases/tag/18.104.22.168
Added links to get versions for older releases from GitHub
Added R2019a version. Note that starting in R19a joint limits are supported in Simscape Multibody joint blocks, so this library is not required if the standard force law works for your application.
Added R2018b version.
Added R2018a version.
Added block Hydraulic Cylinder SA PS (single-acting hydraulic cylinder using a physical signal interface) and example sm_ssci_02_cylinder_sa_pump which models a single piston pump using the Hydraulic SA PS block.
Added R2017b version.
Fixed mistake in library (Interfaces/Translational Simscape Multibody). Changed checkboxes in External Force and Torque blocks from torque to force. Added example sm_ssci_01_slider_crank.slx
Adjusted Simscape Forces Library
Added R2017a version and text for citing submission in other works. CAD models imported from Onshape are in the R2017a version.
Added 6 examples in R16b showing 3 methods of connecting 3D mechanical models to other domains. Contains library of blocks to simplify integration. Documentation for each example. Content for releases R16a and earlier is unchanged.
Fixed broken hyperlink in submission description.
Added R2016a versions.
Fixed webinar link.
Updated link to video in "Description" field. No changes to files in submission.
Added R2013a version with additional examples (hinge with hard stop, slider crank with hardstop, slider crank with 2 motors).
Inspired: Modeling Pneumatic Robot Actuators, MATLAB and Simulink Robotics Arena: Walking Robot, Robot Arm, Designing Robot Manipulator Algorithms, MATLAB and Simulink Robotics Arena: Introduction to Contact Modeling