Mechanics explorer, moving the location of the model

Question

Kim Phillips 2022-10-18

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https://ww2.mathworks.cn/matlabcentral/answers/1829608-mechanics-explorer-moving-the-location-of-the-model

回答： Sakshay 2022-11-29

Hi mechanic explorer experts

I am using a Kinova gen 3 simulation. I have 2 robotic arm models in the one simulation.

I wanted to move one of the arms so it is not sitting onto of the other, but I am unsure how to do this.

Thank you for your help.

Kim

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Answer 1

Sakshay 2022-11-29

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Hello Kim,

As per my understanding, you want to change the positions of the models that you place in Mechanics Explorer (SimScape).

You can change the position of the links using the "RigidTransform" Block. This block applies a time-invariant transformation between two frames. You can attach the Base Link of the second robot with the "WorldFrame" Block using the "RigidTransform" Block. You can further set the transformation value (Rotation and Translation) in the Block Parameters of the "RigidTransform" Block.

Please refer to the documentation on "RigidTransform" Block for more information:

Fixed spatial relationship between frames - MATLAB (mathworks.com)

Additionally, you can also refer to the following documentation on modelling a simple link:

Model a Simple Link - MATLAB & Simulink (mathworks.com)