Modeling & Simulation

Practical Lab
INTRODUCTION LAB(1)

ENG. MALAK AMIN

Term Project, Quizzes and Exams
•Model a mechatronics system using sofware taken in this
course.
•Weekly Quizzes.
•Exam.
Lecture Outlines
•Introduction to Simulink.
•Introduction to Simscape.
•Advantages of Simulink / Simscape.
•Differences between Simulink and Simscape.
•Examples
Introduction to Simulink
Simulink is an interactive, block-diagram-based too) for modeling and
analyzing dynamic systems. It is tightly coupled with MATLAB and
supported by Block sets and Extensions.
■ Physical systems can be modeled in Simulink using a signal-based
input/output method.
Simulink Extensions
Simulink blocks represent basic Simutink
* w*

mathematical operations. When

you connect Simulink blocks
together, the resulting diagram is Stateftow
equivalent to the mathematical Logic and State
Machine modeling
model, or representation, of the
system under design.

SimEvents Simscape
Discrete Event Physica) System
modeling modeling
 Introduction to Simscape
Simscape software is a set of block libraries and special simulation features for
modeling physical systems in the Simulink environment.
Connecting Simscape blocks together is analogous to connecting real components,
such as pumps, valves, and so on. In other words, Simscape diagrams mimic the
physical system layout.
SimMechanics

Muttibody mechanics (3-D) Mechanicai systems (1-D) Etectromechanicai and

etectronic systems .

F)uid power and contro! Etectrica) power systems

Advantages of Simulink/Simscape
> Physical Modeling Platform for Multi-domain System (Mechatronics
Advantages of Simulink/Simscape
> Simulating plant and controller in one environment
> Hardware integration(Hardware in-loop simulation)
Advantages of Simulink/Simscape
> Using simscape, it is an easier, quicker and more intuitive to
create the physical model.
> Simscape Language For Modeling Custom Components
Differences between Simuiink and Simscape
Differences between Simulink and Simscape
Basic Principles and Guidelines of Modeling
Physical Networks using Simscape
* Simscape employs the Physical Network approach, /According to this
approach, each system is represented as consisting of functional elements
that interact with each other by exchanging (energy through their ports.
Across Variable
Variabte Types
Physical Domain Across Variable Through Variable
Electrical Voltage Current
Hydraulic Pressure Flow rate
Magnetic Magnetomotive force (mmf) Flux
Mechanical rotational Angular velocity Torque
Mechanical translational Translational velocity Force
Gas Pressure and temperature Mass flow rate and energy
flow rate
Moist Air Pressure, temperature, Mixture mass flow rate,
specific humidity (water mixture energy flow rate,
vapor mass fraction), and water vapor mass flow rate,
trace gas mass fraction and trace gas mass flow rate
Thermal Temperature Heat flow
Thermal liquid Pressure and temperature Mass flow rate and energy
flow rate
Two-phase fluid Pressure and specific Mass flow rate and energy
internal energy flow rate
Connector Ports and Connection Lines
> Simscape blocks may have the following types of ports:
• Physical conserving ports — Non directional ports (for example,
hydraulic or mechanical) that represent physical connections and
relate physical variables based on the Physical Network approach.
• Physical signal ports — Unidirectional ports transferring signals
that use an internal Simscape engine for computations.

Resistor
Variable type example:
The following example illustrates a Physical Network representation of a double
acting hydraulic cylinder.
Variable type example:
The element is represented with three energy flows: two flows of hydraulic energy through
the inlet and outlet of the cylinder and a flow of mechanical energy associated with the rod
motion. It therefore has the following three connector ports:
A —Hydraulic conserving port associated with pressure p 1 (an Across variable) and flow
rate q 1 (a Through variable)
B —Hydraulic conserving port associated with pressure p 2 (an Across variable) and flow
rate q 2 (a Through variable)
R —Mechanical translational conserving port associated with rod veiocity v 3 (an Across
variable) and force F 3 (a Through variabie) ----------- — <

92 j.
A
Pi
Connection guidetines
* Solver configuration block * Domain specific reference block
Important Blocks

S PS

Stmuhnk PS PS-Stmuhr^
Corwertef Converter

Btocks to interface Simuiink

and physicai signais
Connection guidelines
You can only connect two physical connection ports of the same physical
domain

Meehan ica!
Eiectrica!
rotationai
domain
Dtode
domain
Gear Box
Useful Sh. rtcuts
* Type: ssc_/?eM/ to open a new simscape model
'Right Click; and (drag) for copy/ blocks.
* Space or mouse wheel to zoom.
* Ctrl-click and Ctrl-click to automatically create connection.
* Ctrl-click for a new branch.
* Hold down mouse wheel to pan.
* Adding blocks toy typing) name.
*Type: ;c&fK__,gr4?%t//7/%!? to get all the units in MATLAB simscape.
Modeling single-Domain physical system using simscape
Building a simscape Model-Electrical Domain:
Example.1: simple battery stop time 100
Model the equivalent circuit of the battery, which has the following electrical schematic, in
simscape and simulate it to measure the current flowing throw the circuit.
 Vo!tage Sensor

Scopel

Resistori
0 005 > PS S
^WW Ohm
PS-Simulink Scope
Resistor Converter
Current Sensor
O.OIOOhm
DC Vo!tage Sourcel Capacitor
4 2V 5000F

^Scope — D X

f(x) = O Eiectrica! Reference

Solver
Configuration

0 10 20 30 40 50 60 70 80 90 100
Modeling single-Domain physical system using simscape
Example 2(Simu)ink/Simscape):
-Mode) of the series RLC Circuit in Simscape and in Simulink and by
using the scope, compare between the voltage across the capacitor in the
two circuits. The values of the constants are as following:
Vmax=10 V;
R =10 Ohm;
C = 1 F;
L = 1 H.
Step

Gainl
 Scope

Sotver
Configuration
Modeling single-Domain physical system using simscape
Example 3(Simu)ink/Simscape):
The following schematic represents a simple model (of a (car suspension. It
consists of a spring and damper (connected to a body (represented as a
mass), which is agitated by a force.
It has the! following parameters:
- M = 1 Kg.
- C = 100 N-s/m
- K = 1000 N/m
Modeling single-Domain physical system using simscape
The following schematic represents st simple model of a car suspension.
It consists of a spring and damper connected to a body (represented as a
mass), which is aoitated bv a force.
B/m <1—

Gainl

Integrator Integrator Scope

k/m<*
Activate Windows
Gain2
 200 S PS

Constant Sim uiink-PS Mass

Converter idea) Force Source

PS-Simuiink Vetocity
tdeat Transtationat
Converter
Motion Sensor

Transtationat Spring Transtationat Damper

PS-Simuiink Position
Converterl

f(x) = 0
Mechanicai
Sotver Transtationat
Configuration Reference
Modeling single-Domain physical system using simscape
Example 4:
Mode) the hydraulic circuit using blocks from the simscape library:
Modeting singte-Domain physical system using simscape
H.W
Design an operational amplifier which has the parameters as shown in
the circuit diagram below.
Next Lab
Required from the students:
>Quiz to test your understanding for this lab
 Modeling & Simulation
Practical Lab
M 0 D E LI NG MU LT" I- D 0 M AI IN & SI MD RI VIE LI N E P HYSICA L SYSTEMS

LA B (2& 3).

ENG. MALAK AMI N

 Quiz
Parameters
w w w xw w

Physical parameters
/n - 1 kg
k=50N/m
1 N/(m/s)

Initial conditions
Mass initial velocity — 0 m/s
Ix?ft spring initial deformation = 0.1 m
Right spring initial deformation = 0.0 m

Simulation parameters
Stop time — 4s
Solver = ode23t
Solution
In This Lab:
^Creating multi-domain physical components.
> Dividing components into subsystem.
> Setting initial conditions.
> Introduction to Simdriveline.
Physical components spanning multiple physical system
> DC-motor
Electrical system
Rotational Mechanical system

> Rack and pinon gear

Translational mechanical system
Rotational Mechanical system

> Hydraulic cylinder

Hydraulic system
Mechanical system
Electromechanical System
Mechanical system
DC Motor Battery
.Pack
Gears 'a )Vln
Electrical system
DC Motor Battery
.Pack
Gears 'a C* Q)vin
Modeling Connections Between Physical Domains
Etectromechanicat

tdeal connections Non idea) connections

connect domains with no power toss. connect domains with tosses.

Rotattona!
Etectromechantca! DC Motor
Converter
Mechanical system(simscape)
Mechanical system(simscape)
^gearA -p
Component polarity ' gearA

TgearB
/ ^gearB

TgearB
gearA
^gearA * )gearB

T = R * T
'gearA **' ' gearB
^gearB " Ig^^gearA
Mechanical system(simscape)
Gear Ratio=2
Damper (Default)

f(x)=O ,

Solver Rotational Damper

Configuration

Mechanical
Rotational Reference
Activate Windows
Gn tn Sett inns tn activate Windows
Creating subsystems

Port names
displayed on
subsystem
Creating subsystems
DC-motor configuration
Electrical Characteristics Mechanical Characteristics (Default Values)

Armature Resistance=0.0093 ohm Rotor Inertia = 0.01 g*cm^2

Armature Inductance=172 uH Rotor damping = 0 N*m/(rad/s)

Back-emf constant =0.19 V/rpm Initial Rotor Speed =0 rpm

Electrical system(simscape)

Ce))1 Cel)2 Ce))3 Cell4 CeH5 Ce)l6 Ce))7 Ce)l8 Cetl9Cell10CeH11Ce)l12

 Electromechanical system(simscape)
w A

w B

DC Motor Scope
Subsystem

Battery Pack
Subsystem

= Electrical Rufe re nee

B

Ref

f&)=0 -
Gear
Sub^stem
Soh/er
Configuration Mechanical
Rotational Reference
LueisAs leDiueLpeujCLUoei^
Setting initial conditions
Parameters; Mwtabte* I___________________________
inertia initia! condition spedty pretty v<** UnK

Rotatkx^vetodty High *10 rad/s

Use only one high

priority target
Setting initial conditions
tnitia! rotor speed

Settings

Electrical Torque Mechanical Faults

Rotor inertia: 0,01 g*cm^2

Rotor damping: N*m/(rad/s)

Initial rotor speed: rad/s

Verifying initial conditions
Verifying initial conditions
INTRODUCTION TO SIMDRIVELINE
 Introduction to SimDriveline
> In Simscape Foundation Library, models of several basic mechanical elements are
existed. However, Simdriveline provides specialized modeling & simulation of the one
dimensional rotational and translational mechanical systems.
> It provides component libraries for modeling and simulating rotational and translational
mechanical systems.
> It includes models of worm gears, lead screws, and vehicle components such as
engines, tires, transmissions, and torque converters.
> You can use these components to model the longitudinal vehicle dynamics, drivetrain
mechanics, industrial machinery, automotive powertrains, and other applications.
> You can integrate electrical, hydraulic, pneumatic, and other physical systems into your
model using components from the Simscape family of products.
Introduction to Vehicle Modeling:
• Vehicle body modeling.
• Tire modeling.
• Wind and terrain effects.
• Break modeling.

Terrain + Wind Vehicle + Tire? + Brake Sensors

Model
Vehicte Body Modeting
Vehicle Body Modeling
Since we’re modeting the longitudinal dynamics(include engine behavior,
tyre; tractive force,resistive forces acting on the vehicle (etc..) of the
vehicle, we’ll use a Half Car Model. This is because; in this (case;; the
loads are evenly distributed between the left and right wheels.
Vehicle Body Modeling (Description)
o It represents a two-axle vehicle body in longitudinal motion.
o It allow us to model the; longitudinal dynamics of the vehicle.
o The vehicle can have the same or a (different number (of wheels on teach
axle.
oThe block accounts for body mass, (aerodynamic cirag, road incline, and
weight distribution between axles due to acceleration (and road
profile.
o The vehicle does not move vertically relative to the ground.
o The equations assume that the wheels never lose contact.
Vehicle Body Modeling (Model)
>The vehicle axles are parallel and form st
plane.
>The longitudinal, x, direction lies in this [plane;
and perpendicular to the axles.
> If the vehicle is traveling (on can incline slope,
P, the normal, z, direction is not parallel to
gravity taut is always perpendicular to the axle
longitudinal plane.
>The figure shown and the table in the next
slide define the vehicle motion model variables
Symbol Description

Vehicte Body
z* ncneange Modeling (Variables)
nt Mass of the vehicle
A Height of vehtcle center of gravity (CG) above the ground
a, A Distance of front and rear axies, respectively, from the norma) projection point of vehicte CG onto
the common ax)e ptane

V, Vetocity of the vehicte When v, > 0, the vehicte moves forward When v, < 0, the vehicte moves
backward.
Wind speed When > 0, the wind is headwind When v* < 0, the wind is tailwind.
n Number of wheets on each axte
Longitudinat forces on each wheet at the front and rear ground contact points, respectively
Ay Normal toad forces on each wheet at the front and rear ground contact points, respectively
A Effective fronta) vehtcte cross-secttonal area
Ci Aerodynamic drag coefficient
z? Mass density of air
Ai Aerodynamic drag force
Vehicle Body Modeling
> Vehicle Dynamics and Motion:
- "Tiie vehicle motion is a result of the net effect of all the forces
and torques acting on it.
- The longitudinal tire forces push the vehicle forward or
backward. - The weight mg of the vehicle acts through its center
(of gravity (CG).
- Depending (on the incline angle, the weight pulls the vehicle to
the (ground and pulls it either backward (or forward.
- Whether the vehicle travels forward (or backward, aerodynamic
drag (slows it down as shown in the equations below:
Vehicle Body Modeling
Vehicle Dynamics and Motion:

' sin /?

f+ F„)

+ VJ2. sgn(V, + V„.)

- For simplicity, the drag is assumed to act through the CG.

Vehicle Body Modeling
^Vehicle Dynamics and Motion:
- the normal force on each front and rear wheel

- The wheel normal forces satisfy:

Vehicle Body Modeling (Ports)
> Input:
• W — Headwind speed, m/s
• beta — Road incline angle, rad
> Output:
• V — Longitudinal 'velocity, m/s
• NF — Front axle [normal force, N
• NR — Rear axle [normal force, INI
> Conserving:
• H — Horizontal motion
Vehicle Body Modeling (Parameters)
%% Vehicle Parameters %% Tire Parameters
rider mass = 80; %kg tire__b = 10;
vehicle rmass = 2 37; %kg tire__c = 1.9;
tire__d = 1;
CG height = 254; %mm
tire__e = 0.97;
drag coeff = 1.2; tire__dia = 18; %in
front axle = 1520; %mm tire inertia = 1e-3; %kg*m^2
rear axle = 14 00; %mm roll__resist = 0.0 05;
% Copyright 2015-2018 The
frontarea = 1.33; %m^2
MathWorks,Inc.
Vehicle body modeling
Tire modeling
>Tire '“Magic Formula” Block (Description):
- "The "Tire (Magic Formula) block models a tire with longitudinal
behavior given by the Magic Formula, an empirical equation based on
four fitting coefficients.
- 'The block can model tire dynamics under constant tor variable
pavement conditions.
- "The longitudinal direction of the tire is the same as its direction of
motion as it rolls on pavement.
- To increase the fidelity of the tire model, you can specify properties
such as tire compliance, inertia, and rolling resistance. However, these
properties increase the complexity of the tire model and can slow
down simulation. Consider ignoring tire compliance and inertia if
simulating the model in real time; or if preparing the model for
hardware-in-the-loop (HIL) simulation.
Symbol Description and Unit

Wheel radius

n Wheel hub longitudinal velocity

Tire longitudinal deformation
Tire modeiin
Wheel angular velocity
(Parameters
Contact point angular velocity If there ,s no tire longitudinal deformation, that <s, tf u =o n -n
Tire tread longitudinal velocity

V. = y, Wheel sltp velocity

Contact shp velocity If there <s no tire longitudinal deformation, that ts, if u = 0, V\,

A = Jj± Wheel sltp

IM,I
Contact slip If th^re is no tire longitudinal deformation, that ts, if M = 0, A = 4
*

Wheel hub threshold velocity

A\ Vertical load on tire
A\ Longitudinal force exerted on the tire at the contact po<nt

— / *1 Ttre longitudinal stiffness under deformation

**- t &J
\ /o
/df,\ Tire longitudinal damping under deformation
^ = -r- )
* k**/.

L /
Wheel-tire inertia, such that the effective mass is equal to
Tire modeling (Ports)
>Input:
N — Normal force
• Physical signal input port associated with the normal force acting on
the tire.
^Output:
IS — Slip
• Physical signal output port associated with the relative slip between
the tire and road.
^Conserving:
/A — Axle
• Mechanical rotational port associated with the axle that the tire sits on.
H — Hub
• Mechanical translational port associated with the wheel hub that
transmits the thrust generated by the tire to the remainder of the
vehicle.
Tire modeling
Wind and terrain effects
Creating speedometer and odometer
Creating speedometer and odometer

Ready Sampte based T=3QQ.QGQ

Next lab
Required from the students:
Quiz to test your understanding for this lab
TkdtiK
 Modeling & Simulation
Practical Lab
M O DE LING & SIM ULATI ON! DYNAMIC SYSTEM S USING SI M SCAP E MULTI BO DY
LAB (4).

ENG. MALAK AMIN

Outlines
• Quiz to test your understanding for vehicle modeling.
• What’s SimMechanics?
• Key Features of SimMechanics.
• Terminology.
• Solids.
• Coordinate Frames.
• Joints.
• Modeling A Simpie Pendulum .
• Modeling A Suspension System
Quiz
Simulate the model under the following wind and terrain conditions:
Road inclination: 2 degree downward.
Headwind speed: 3 m/s.
Parameters
1.6 m 1.4 m
Vehicle body:
Vehicle mass: 1500 kg
Wheels per axle: 2
Frontal area: 3 nr
Drag coefficient: 0.4
Distances are shown on the diagram below.

Tires (magic formula):

Rolling radius: 16 in (406.4 mm)
l ire inertia: 4.129 kg/nr
Rolling resistance: 0.015
What’s SimMechanics?
• SimMechanics is a block diagram modeling environment for the
engineering design and simulation of rigid body machines and their
motions, using the standard Newtonian dynamics of forces a nd
torques.
• It allows us to model the mechanical systems both in two and three
dimensions, whereas Simscape callows us to model the (orate
dimensional domain systems.
 Key Features of SimMechanics:
• Single environment for simulating 3D mechanical systems together with multi­
domain physical systems and control algorithms in Simulink.
• Simulation modes for analyzing motion and calculating forces.
• Bodies, Coordinate Systems, Joints, and Constraints.
• Sensors, Actuators, Friction, and Force Elements.
• Visualizing and Animating Machines (3D Animation).
• CAD model import.
Terminology - Solids:
Learning the language of Multibody Simulation:

Solid

Rotational
degree of freedom

Translational
degree of freedom

Coordinate
frame

Center of mass
Terminology - Coordinate Frames:
Translating Coordinate Frames
fransiating Coordinate Frames
Terminology - Coordinate Frames:
Rotating Coordinate Frames
Rotating Coordinate Frames
Standard Axis Arbitrary Axis
Modeling Suspension System:

Chassis Simplified Suspension Arm Wheei Shock Absorber TestPtatform

Modeling Simple Pendulum
GeHZng'.S'farfea.
The sjwnie'M' function opens a Simscape Multibody Model template with commonly
used blocks and variable step automatic solver selection for best performance
Modeling A Simple Pendulum:
Simulation
t(x)*O .
settings
Soh/er
Cortfguratton

Wortd
reference
frame Wortd Frame

Gravity
Mechantsm Configure! an
Defining Solids:
Defining Solids
3 Geometry
Shape Brick v
Dimensions [4.511] cm v
Inertia
Graphic

OK Cancel Help Apply

Dimensions [4.511] cm
Inertia
Type Calculate from Geometry v
Based on Density_______________________________ Bg
Density 3000 kg/[m^3) v
! 3 Graphic

QK Cancel Help Apply

Modeling A Simple Pendulum:
Defining Coordinate Frame:
 Defining Coordinate Frame:

f(x) = 0

Solver
Configuration

Mechanism Configuration
Rotate about z axes
MENU AND TOOLBARS

JLAB Production Server R2015a bin

Mechanics Explorers - Mechanics Explorer-untitled
I Mechanic: Explorer-untitled

untitled
0"^ Mechanism_Configuration
World_Frame
Sohd_____________
iqid Transform
l+)"Connection Frames

Rigid Transform Properties

Rotation
Method one
Translation
Choose Joints:
f(x)=O

Sotver
Configuration

World Frame Revolute Joint Rigid Transform

Solid

Mechanism Configuration
Visualizing and inspecting:
 Modeling & Simulation
Practical Lab
M O DE LING & SIM ULATI ON! DYNAMIC SYSTEM S USING SI M SCAP E MULTI BO DY
LAB (4).

ENG. MALAK AMIN

Outlines
• Quiz to test your understanding for vehicle modeling.
• What’s SimMechanics?
• Key Features of SimMechanics.
• Terminology.
• Solids.
• Coordinate Frames.
• Joints.
• Modeling A Simpie Pendulum .
• Modeling A Suspension System
Quiz
Simulate the model under the following wind and terrain conditions:
Road inclination: 2 degree downward.
Headwind speed: 3 m/s.
Parameters
1.6 m 1.4 m
Vehicle body:
Vehicle mass: 1500 kg
Wheels per axle: 2
Frontal area: 3 nr
Drag coefficient: 0.4
Distances are shown on the diagram below.

Tires (magic formula):

Rolling radius: 16 in (406.4 mm)
l ire inertia: 4.129 kg/nr
Rolling resistance: 0.015
What’s SimMechanics?
• SimMechanics is a block diagram modeling environment for the
engineering design and simulation of rigid body machines and their
motions, using the standard Newtonian dynamics of forces a nd
torques.
• It allows us to model the mechanical systems both in two and three
dimensions, whereas Simscape callows us to model the (orate
dimensional domain systems.
 Key Features of SimMechanics:
• Single environment for simulating 3D mechanical systems together with multi­
domain physical systems and control algorithms in Simulink.
• Simulation modes for analyzing motion and calculating forces.
• Bodies, Coordinate Systems, Joints, and Constraints.
• Sensors, Actuators, Friction, and Force Elements.
• Visualizing and Animating Machines (3D Animation).
• CAD model import.
Terminology - Solids:
Learning the language of Multibody Simulation:

Solid

Rotational
degree of freedom

Translational
degree of freedom

Coordinate
frame

Center of mass
Terminology - Coordinate Frames:
Translating Coordinate Frames
fransiating Coordinate Frames
Terminology - Coordinate Frames:
Rotating Coordinate Frames
Rotating Coordinate Frames
Standard Axis Arbitrary Axis
Modeling Suspension System:

Chassis Simplified Suspension Arm Wheei Shock Absorber TestPtatform

Modeling Simple Pendulum
GeHZng'.S'farfea.
The sjwnie'M' function opens a Simscape Multibody Model template with commonly
used blocks and variable step automatic solver selection for best performance
Modeling A Simple Pendulum:
Simulation
t(x)*O .
settings
Soh/er
Cortfguratton

Wortd
reference
frame Wortd Frame

Gravity
Mechantsm Configure! an
Defining Solids:
Defining Solids
3 Geometry
Shape Brick v
Dimensions [4.511] cm v
Inertia
Graphic

OK Cancel Help Apply

Dimensions [4.511] cm
Inertia
Type Calculate from Geometry v
Based on Density_______________________________ Bg
Density 3000 kg/[m^3) v
! 3 Graphic

QK Cancel Help Apply

Modeling A Simple Pendulum:
Defining Coordinate Frame:
 Defining Coordinate Frame:

f(x) = 0

Solver
Configuration

Mechanism Configuration
Rotate about z axes
MENU AND TOOLBARS

JLAB Production Server R2015a bin

Mechanics Explorers - Mechanics Explorer-untitled
I Mechanic: Explorer-untitled

untitled
0"^ Mechanism_Configuration
World_Frame
Sohd_____________
iqid Transform
l+)"Connection Frames

Rigid Transform Properties

Rotation
Method one
Translation
Choose Joints:
f(x)=O

Sotver
Configuration

World Frame Revolute Joint Rigid Transform

Solid

Mechanism Configuration
Visualizing and inspecting:
Quiz
Insert Solid using CAD design
narasoiia^.X-tj
Parasolid Binary (*.x_b)
IGESC.igs} '
RFimlvFd__ I* ri'l
STEP AP203 (*. step;*, stp)
.ave As
STEP AP214(*.step;*.stp)
I FC 2x3 C.ifc)
IFC4(*.ifc)
AC I S(*. sat)
^antze^ NeVDAFS (*.vda)
VRML C.wrl}
STL (*.stl)
Additive Manufacturing File (Tamf)
eDrawings (*eprt)
3DXML(*3dxm)}
OneDrive - Per;
Microsoft XAML (Txaml)
Dream High2' CATIA Graphics C.cgr)
' ProE/CreoPart(Tprt)
This PC HCG (Thcg)
HOOPS HSF (*.hsf)
I Desktop Dtxf C.dxf]
Dwg(*'dwg)
Adobe Portable Document Format (*.pdf)
File name: Adobe Photoshop Files (*.psd)

Save as type: Adobe Illustrator Files (*.ai)

JPEG r.jpg)
Description: Portable Network Graphics (*<png)

ave as Include ah referenced components

ave as copy and continue Add prefix

ave as copy and open Add suffix

Hide Folders Cancel

Insert Solid using CAD design
 Xpress Products Update Take

SimMechanics Link SimMechanics First Generation...

SimMechanics Second Generation...

CAD to Matlab Export To AEC... Customize Menu

Generate a system in simscape using CAD systems to control and simulate the movement.
B Other Add ins
3 SimMechanics Link B < 1!

B SOLIDWORKS 3D EXPERIENCE SmartLink B -

B SOLIDWORKS PCB2016 B -
B SOLIDWORKS XPS Driver 2016 B —

OK Cancel
 Simmechanics link
H kobby-mendez-dOoYF3hm4GI-unspla... 2/3/2023 11:25 PM JPG File 2,037 KB

sm I i n k. r2015a .wi n 64.zi p 5/1/2023 3:24 PM WinRARZIP archive 43,502 KB

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2/3/2023 11:25 PM JPG File 737 KB

u Mechanics Explorers

Command Window €' ^Editor-Asseml.xml

Partl.SLDPRT » smimport('Asseml2')
base_Default_sldprt.STL smimport('Assemi2')
base.SLDPRT
Asseml 2.xn
Importing model: Asseml D
semi .xml
Generating subsystem (5/5): x4_1_RIGID

: Z ^dy exists in memory. The modiLied name

seml21" has been used as the imported model name.
^4.SLDPRT smnew____________ __
^^^semljcml (XI-1L Document) smimport('Asseml.xml')
Workspace
Joints input
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nere are three options to handle the input: you can use it as is,
ter input, or provide the input derivatives through additional signal
)rts. Input filtering also provides time derivatives. The first-order
ter provides one derivative, while the second-order filter provides
e first and second derivatives.

a ra meters

Units Input Handling

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Joints input
Joints input