simscape.multibody.GeneralSolid Class

R2026b

Namespace: simscape.multibody
Superclasses: simscape.multibody.Component

Solid with specified geometry and inertia

Since R2026b

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Description

Use an object of the simscape.multibody.GeneralSolid class to model a solid body with a specified geometry and inertia properties. The solid has a reference frame R that defines the origin and orientation for the geometry and inertia.

Class Attributes

Sealed
true
ConstructOnLoad
true

For information on class attributes, see Class Attributes.

Creation

Description

solid = simscape.multibody.GeneralSolid creates a solid with default property values.

solid = simscape.multibody.GeneralSolid(geometry,inertia) creates a solid with the specified geometry and inertia.

example

Properties

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Inertia properties of the solid, specified as a simscape.multibody.GeneralInertia object.

The reference frame connector on this component, returned as the string R. Use this frame connector to connect this object to other components.

Methods

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Examples

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This example shows how to create a solid with a cylinder geometry and specified inertia properties.

Create a cylinder geometry for the solid.

cyl = simscape.multibody.Cylinder(simscape.Value(0.02,"m"), ...
    simscape.Value(0.5,"m"));

Define the inertia properties of the solid. Specify a mass of 2.5 kg, a center of mass offset of [0.1 0 0] m from the reference frame origin, and moments of inertia of [0.04 0.05 0.06] kg*m^2.

inertia = simscape.multibody.GeneralInertia( ...
    simscape.Value(2.5,"kg"), ...
    simscape.Value([0.1 0 0],"m"), ...
    simscape.Value([0.04 0.05 0.06],"kg*m^2"), ...
    simscape.Value([0 0 0],"kg*m^2"));

Create a solid with the cylinder geometry and specified inertia.

solid = simscape.multibody.GeneralSolid(cyl,inertia)

solid =
  GeneralSolid with properties:

           Geometry: [1x1 simscape.multibody.Cylinder]
            Inertia: [1x1 simscape.multibody.GeneralInertia]
    FrameConnectors: "R"

Version History

Introduced in R2026b

See Also

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