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Multibody Modeling

Model bodies, assemble them using joints and constraints, specify and sense dynamic quantities of interest

Simscape™ Multibody™ models are similar in composition to the systems they represent. A typical model comprises bodies, joints and constraints, forces and torques, and sensors. Start your model by creating the subsystems that represent the bodies. Then, connect the subsystems with joints and constraints to define kinematic relationships. To measure the dynamic response of system components, add forces and torques—or, equivalently, motion inputs—to drive the model and sensors.


  • Bodies
    Model body geometries, inertias, colors, and frames
  • Assembly
    Connect bodies through joints, gears, and constraints
  • Multibody Dynamics
    Apply and sense force, torque, and motion