Simscape Multibody (SimMechanics) - obtaining symbolic dynamic model

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Guy Lalkin
Guy Lalkin 2016-7-30
回答： Steve Miller 2021-11-24
Hi everyone,
I am trying to model a parallel robot using MATLAB. I've tried the robotics toolbox (which supports symbolic modeling), but it only supports serial robots (i.e. no closed-loop kinematics), unfortunately.
I haven't been able to figure out if Simscape Multibody has the ability to create a dynamic model - symbolically - from a given system of bodies. Basically, given a parametric model of the robot, can I obtain the general expressions describing the system dynamics? (actuator and passive-joint torques, to be precise)
If not, any other recommendation of how to go about solving this would be greatly appreciated.
Thanks,
Guy
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Swarooph
Swarooph 2016-8-12
Hello Guy,
Maybe you already know this. But a product called Simulink Design Optimization can actually run your simulation model to try to find optimal model parameters so the objectives/goals that you set are met. Take a look at the video here to see that in action with a mechanical engineering example.
Guy Lalkin
Guy Lalkin 2016-8-16
Ah, I hadn't considered using that product. Thanks, I'll read up about it some more. And thanks for all the help!

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Steve Miller
Steve Miller 2021-11-24
As answered above, the desired task (finding optimal link lengths/sizes, to minimize actuator torque) does not require a full symbolic representation, it requires a parameteric model which Simscape Multibody enables you to create. Automated parameter tuning is possible using Simulink Design Optimization.
--Steve

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