How to convert a rotational motion to a translational motion in simscape

Hello, I'm trying to create a model of a double pendulum on a chart. I have implemented the model with a transational force input, now I was looking into implementing a motor driving the chart using a voltage input. Now I have a multibody motor outputting a rotational motion and I want to connect this to a prismatic joint. Can you tell me the best solution?

Following there are the schemes:

Multibody motor

Answer 1

[Steve Miller]

Here are two options:

1. Convert the rotational motion of the motor shaft to translational motion in Simscape using either the Wheel and Axle block in Simscape or the Rack and Pinion block in Simscape Driveline and then connect the Translational 1D Mechanical port to the Prismatic Joint in Simscape Multibody (similar to how you connected to the Revolute Joint above).
2. Add a Rack-and-Pinion Constraint from Simscape Multibody to your model to constrain the rotation of the Revolute joint and the motion of the Prismatic Joint

--Steve