1. SimMechanics Example

2. SimMechanic: Importing a Model from SolidWorks

3. SimMechanic: Importing a Model from SolidWorks

4. 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.

5. 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

6. Introduction of a Servomotor Model
Modified servomotor model that provides access to the angular acceleration, velocity, and position of the motor.

7. Validation of Servomotor Model with SimMechanics

8. Validation of Servomotor Model with SimMechanics

9. Validation of Servomotor Model with SimMechanics

10. Validation of Servomotor Model with SimMechanics
Load inertia (JL) is set to wheel inertia
Wheel inertia is determined from SolidWorks using Mass Properties

11. Validation of Servomotor Model with SimMechanics
Motor RPM using SimMechanics and Simulink

12. Alternate Method for Integrating Motor Model

13. Alternate Method: Motor Model

14. Double Pendulum Driven by Motor

15. Double Pendulum: Motor Model

16. Double Pendulum Driven by Gear Motor

17. Gear Motor Model