- Mass
- Center of mass
- Inertia matrix
- Centered inertia matrix
- Principal inertia matrix
- Orientation of principal inertia frame
How to calculate the common center of mass position of multiple rigid bodies in Simscape Multibody?
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Jingchao Li
el 30 de Oct. de 2020
Respondida: Moritz Ischebeck
el 2 de Jun. de 2021
How to calculate the common center of mass position of multiple rigid bodies in Simscape Multibody?
I think it is possible to get the position of the center of mass of each rigid body and then calculate the overall center of mass by weighting, but this is very complicated. Is there a more convenient method?
2 comentarios
Vasco Lenzi
el 11 de Nov. de 2020
Editada: Vasco Lenzi
el 11 de Nov. de 2020
Hi there
have you taken a look at the inertia sensor block?
it was introduced in 2019b
this should provide a fairly straightforward way to get center of mass, as well as:
Juan Sagarduy
el 11 de Nov. de 2020
Good insight Vasco,
Indeed the Inertia Sensor works well for Jingchiao's query. I attach an example with two masses. When density of one is very high, the centre of mass is in the centre of the heavy body. And viceversa.
Br Juan
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Steve Miller
el 2 de Jun. de 2021
As Vasco mentioned above, the Inertia Sensor block was created for this purpose.
From Vasco's Comment above:
Hi there
have you taken a look at the inertia sensor block?
it was introduced in 2019b
this should provide a fairly straightforward way to get center of mass, as well as:
- Mass
- Center of mass
- Inertia matrix
- Centered inertia matrix
- Principal inertia matrix
- Orientation of principal inertia frame
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Moritz Ischebeck
el 2 de Jun. de 2021
another example, of a double pendulum
important property to change when recreating: Inertia Sensor > properties > Sensor Extent > "mechanism"
connect sensor port (input) with world frame
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