Simscape Multibody Parts Library: Overview

This library of parameterized parts accelerates the process of assembling multibody models. It contains:

  1. Library of parts parameterized through block masks
  2. MATLAB functions to generate data defining part cross-sections
  3. Example models showing how to assemble the parts into mechanisms

The parts have a consistent interface (frame location and orientation) which makes it easy to assemble a set of simple solids together to make a more complex part. Key parameters are provided in the block mask for geometry, material, and appearance. Information on individual parts is shown below.

A full set of examples is available in project Multibody_Parts_Library.prj. Here are some test models included in this project:

Extrusion Examples
1. Circular Extrusion Assembly: Model, Documentation
2. Box Extrusion Assembly: Model, Documentation
3. Elliptical Tube Assembly: Model, Documentation

Gear Examples
1. Common Gear Assembly Testrig: Model, Documentation

Contents

Visualization of Parts from Library (partial)

3D view of many of the parts in the Simscape Multibody Parts Library

Extrusion Scripts: Box

MATLAB function Extr_Data_Box.m creates a hollow or solid rectangular cross-section. Parts Box Tube and Box Tube Curve use this function to define straight or curved extrusions that can be chained together.

Open model sm_parts_box_tubes.slx

Extrusion Scripts: Box with Fillets

MATLAB function Extr_Data_BoxFillet.m creates a hollow or solid rectangular cross-section with fillets on the inner and outer corners. Parts Box Fillet Tube and Box Fillet Tube Curve use this function to define straight or curved extrusions that can be chained together.

Open model sm_parts_box_fillet_tubes.slx

Extrusion Scripts: Ellipse

MATLAB function Extr_Data_Ellipse.m creates a hollow or solid elliptical cross-section. Parts Elliptical Tube and Elliptical Tube Curve use this function to define straight or curved extrusions that can be chained together.

Open model sm_parts_ell_tubes.slx

Extrusion Scripts: Ring

MATLAB function Extr_Data_Ring.m creates a hollow or solid circular cross-section. Parts Circular Tube and Circular Tube Curve use this function to define straight or curved extrusions that can be chained together.

Open model sm_parts_circ_tubes.slx

Extrusion Scripts: Custom

MATLAB function Extr_Data_Custm.m plots custom cross-section data. Parts Custom Extrusion and Custom Extrusion Curve use this function to plot a cross-section defined in its UI.

>> Extr_Data_Custom([-1 1;-1 -1;1 -1;0.5 -0.5;-0.5 -0.5;-0.5 0.5]*2e-2);

Open model sm_parts_custom_extrusion.slx

Extrusion Scripts: Mesh

MATLAB function Extr_Data_Mesh.m creates a cross-section for a grid. Part Mesh uses this function to create a rectangular solid with rectangular holes. This is useful for putting a brid n the background of your visualization for the floor or other planes.

Open model sm_parts_mesh.slx

Extrusion Scripts: Link

MATLAB function Extr_Data_LinkHoles.m creates a cross-section for a rectangular solid with rounded ends. An arbitrary number of holes can be put in the part. Part Link uses Extr_Data_LinkHoles.m to create a part. It can have an arbitrary number of holes, but only provides interface ports at the end holes. For links with more interface ports, assemble them from link segments.

The Link part is often combined with the Rod part to create mechanisms such as four-bar linkages. Note the port labels - the Rod ports connect to frames oriented so that they will extend away from the Link part, The port you connect determines the side of the link where the rod will appear.

Open model sm_parts_link.slx

Extrusion Scripts: Triangle Link

MATLAB function Extr_Data_TriangleLink_Holes.m creates a cross-section for a triangular solid with rounded corners and a hole at each corner.

Open model sm_parts_triangle_link.slx

Extrusion Scripts: Link Segment, 2 Holes

MATLAB function Extr_Data_Link2Hole.m creates a cross-section for a segment of a mechanical link between two holes. It is used by the Link Seg 2 Holes part which enables you to construct a mechanical link with an arbitrary number and location of holes and associated interface ports.

The link part is often combined with the other Link Seg 2 Holes parts and Link End parts to create custom mechanical links.

Open model sm_parts_custom_link.slx

Extrusion Scripts: Link Segment, 1 Hole

MATLAB function Extr_Data_Link1Hole.m creates a cross-section for a segment of a mechanical link with a hole at one end. It is used by the Link Seg 1 Hole part which enables you to construct a mechanical link with an arbitrary number and location of holes and associated interface ports. You can select which end of the link has the hole, either at the positive or negative end of the local X-axis.

The link part is often combined with the other Link Seg 2 Holes parts and Link End parts to create custom mechanical links.

Open model sm_parts_custom_link_flatend.slx

Extrusion Scripts: Cam from two Circles

MATLAB function Extr_Data_Cam_Circles.m creates a cross-section formed by connecting two circles via two tangent lines. It is similar to the shape of very simple cams.

Open model sm_parts_cam_circles.slx

Extrusion Scripts: Gear

MATLAB function Extr_Data_Gear.m creates a cross-section for an external or an internal toothed gear.

Open model sm_parts_gears.slx

Extrusion Scripts: Rack

MATLAB function Extr_Data_Rack.m creates a cross-section for a rack.

Open model sm_parts_rack_and_pinion.slx

Extrusion Scripts: Cone

MATLAB function Extr_Data_Frustum.m creates a cross-section that can be revolved to create a conical solid.

Open model sm_parts_cone.slx