Simscape™ Multibody™ provides a multibody simulation environment for 3D mechanical systems, such as robots, vehicle suspensions, construction equipment, and aircraft landing gear. You can model multibody systems using blocks representing bodies, joints, constraints, force elements, and sensors. Simscape Multibody formulates and solves the equations of motion for the complete mechanical system. You can import complete CAD assemblies, including all masses, inertias, joints, constraints, and 3D geometry, into your model. An automatically generated 3D animation lets you visualize the system dynamics.
Simscape Multibody helps you develop control systems and test system-level performance. You can parameterize your models using MATLAB® variables and expressions, and design control systems for your multibody system in Simulink®. You can integrate hydraulic, electrical, pneumatic, and other physical systems into your model using components from the Simscape family of products. To deploy your models to other simulation environments, including hardware-in-the-loop (HIL) systems, Simscape Multibody supports C-code generation.
Apply forces and torques to a basic multibody model. Sense motion variables at joints and visualize these variables using MATLAB plots.
Model a simple body with solid properties and connection frames parameterized in terms of MATLAB variables.
Model a basic multibody system comprising a simple body and a revolute joint.
Start a model from a template with commonly used blocks and suitable solver settings.
Simscape Multibody modeling workflow.
Basic components of a Simscape Multibody model.
Bodies are representations that you create of physical parts—gears, pistons, levers—for later assembly into multibody systems, a piston engine serving as an example. Here is an introduction to bodies as well as the blocks and tools commonly used to represent one in a model.
Role of joints in a multibody model. Joints as systems of joint primitives with elementary degrees of freedom. Accounting for the effects of joint inertia in a model.
Visualization is not only a central part of a multibody simulation, but also an essential tool in modeling bodies and verifying their shapes, sizes, frame placements, and colors. Here is an overview of the visualization utilities available in the Simscape Multibody environment and the roles they play in your modeling workflow.
Frames are axis triads that encode the position and orientation of body elements in a body. Learn about frames as a means to connect body elements and about rigid transforms as a means to offset those elements.