Simscape multibody composite rigid body inertia

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Howdy,
I'm working with simscape multibody and I've seen using inertia sensor there's chance to select a local group of connected blocks or whole mechanicsms. I was wondering if for a complex branched mechanism would be possible to take also a composite rigid body inertia measure (using actual configurations given by joints positions) for single branches in palce of whole mechanism of any workaround exist for.
Cheers,
Soldà Enrico
  1 个评论
Anurag Ojha
Anurag Ojha 2024-8-18
编辑:Anurag Ojha 2024-8-18
Hey
As the default behavior of the Inertia Sensor block is to measure the inertia of either the entire mechanism or a local group of connected blocks. However, we can achieve the desired measurement by using a combination of techniques and a bit of creativity.
Here is how I would approach the problem:
  • Break down your complex mechanism into smaller subsystems or branches.
  • Refer to following documentation of how to do so:
  • https://www.mathworks.com/help/simulink/ug/creating-subsystems.html
  • Each subsystem can be represented as a separate model or a masked subsystem within the larger model.
  • Place an Inertia Sensor block at strategic locations within each branch or subsystem
  • Configure each sensor to measure the inertia of the specific group of connected blocks that make up the branch.
  • If built in Inertia Sensor does not directly support we can consider to write MATLAB scripts to calculate composite inertia manually.
Let me know if this works!

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