Report

SimMechanics Example SimMechanic: Importing a Model from SolidWorks SimMechanic: Importing a Model from SolidWorks Use of Joint Sensors Display angle of revolute joint 1 •Joint Sensor measures linear/angular position, velocity, acceleration, computed force/torque and/or reaction force/torque of a Joint primitive. Use of Joint Sensors and Actuators Actuate with motion: •No angular acceleration •Angular velocity of 180 degrees /sec. •Angular position is the integral of angular acceleration Display reaction torques measured on Follower (not Base) •Joint Sensor provides reaction torques about the X,Y, and Z axes Introduction of a Servomotor Model •Modified servomotor model that provides access to the angular acceleration, velocity, and position of the motor. Validation of Servomotor Model with SimMechanics Validation of Servomotor Model with SimMechanics Validation of Servomotor Model with SimMechanics Validation of Servomotor Model with SimMechanics •Load inertia (JL) is set to wheel inertia •Wheel inertia is determined from SolidWorks using Mass Properties Validation of Servomotor Model with SimMechanics •Motor RPM using SimMechanics and Simulink Alternate Method for Integrating Motor Model Alternate Method: Motor Model Double Pendulum Driven by Motor Double Pendulum: Motor Model Double Pendulum Driven by Gear Motor Gear Motor Model