www.gusucode.com > Modeling Pneumatic Robot Actuators 工具箱matlab源码程序 > Modeling Pneumatic Robot Actuators/MSRA_PneumaticRobotSeries/Libraries/MultipartsLib/Scripts_Data/Doc/Multibody_Parts_Library_Overview.m
%% Simscape Multibody Parts Library: Overview % % This library of parameterized parts accelerates the process of assembling % multibody models. It contains: % % # Library of parts parameterized through block masks % # MATLAB functions to generate data defining part cross-sections % # Example models showing how to assemble the parts into mechanisms % % The parts have a consistent interface (frame location and orientation) % which makes it easy to assemble a set of simple solids together to make a % more complex part. Key parameters are provided in the block mask for % geometry, material, and appearance. % % Copyright 2017-2018 The MathWorks, Inc. %% Visualization of Parts from Library (partial) % % 3D view of many of the parts in the Simscape Multibody Parts Library %% % <<sm_parts_all_mechanics_explorer.png>> %% Extrusion Scripts: Box % % MATLAB function Extr_Data_Box.m creates a hollow or solid rectangular % cross-section. Parts Box Tube and Box Tube Curve use this function to % define straight or curved extrusions that can be chained together. Extr_Data_Box %% % <matlab:open_system('sm_parts_box_tubes'); Open model sm_parts_box_tubes.slx> sm_parts_box_tubes %% % <<sm_parts_box_tubes_mechanics_explorer.png>> %% Extrusion Scripts: Box with Fillets % % MATLAB function Extr_Data_BoxFillet.m creates a hollow or solid % rectangular cross-section with fillets on the inner and outer corners. % Parts Box Fillet Tube and Box Fillet Tube Curve use this function to % define straight or curved extrusions that can be chained together. Extr_Data_BoxFillet %% % <matlab:open_system('sm_parts_box_fillet_tubes'); Open model sm_parts_box_fillet_tubes.slx> sm_parts_box_fillet_tubes %% % <<sm_parts_box_fillet_tubes_mechanics_explorer.png>> %% Extrusion Scripts: Ellipse % % MATLAB function Extr_Data_Ellipse.m creates a hollow or solid elliptical % cross-section. Parts Elliptical Tube and Elliptical Tube Curve use this % function to define straight or curved extrusions that can be chained % together. Extr_Data_Ellipse(5,2,60,315,0.5,'plot') %% % <matlab:open_system('sm_parts_ell_tubes'); Open model sm_parts_ell_tubes.slx> sm_parts_ell_tubes %% % <<sm_parts_ell_tubes_mechanics_explorer.png>> %% Extrusion Scripts: Ring % % MATLAB function Extr_Data_Ring.m creates a hollow or solid circular % cross-section. Parts Circular Tube and Circular Tube Curve use this % function to define straight or curved extrusions that can be chained % together. Extr_Data_Ring %% % <matlab:open_system('sm_parts_circ_tubes'); Open model sm_parts_circ_tubes.slx> sm_parts_circ_tubes %% % <<sm_parts_circ_tubes_mechanics_explorer.png>> %% Extrusion Scripts: Custom % % MATLAB function Extr_Data_Custm.m plots custom cross-section data. % Parts Custom Extrusion and Custom Extrusion Curve use this % function to plot a cross-section defined in its UI. % % >> Extr_Data_Custom([-1 1;-1 -1;1 -1;0.5 -0.5;-0.5 -0.5;-0.5 0.5]*2e-2); Extr_Data_Custom([-1 1;-1 -1;1 -1;0.5 -0.5;-0.5 -0.5;-0.5 0.5]*2e-2); %% % <matlab:open_system('sm_parts_custom_extrusion'); Open model sm_parts_custom_extrusion.slx> sm_parts_custom_extrusion %% % <<sm_parts_custom_extrusion_mechanics_explorer.png>> %% Extrusion Scripts: Mesh % % MATLAB function Extr_Data_Mesh.m creates a cross-section for a grid. Part % Mesh uses this function to create a rectangular solid with rectangular % holes. This is useful for putting a brid n the background of your % visualization for the floor or other planes. Extr_Data_Mesh(0.6,0.4,6,4,0.095,0.095,'plot') %% % <matlab:open_system('sm_parts_mesh'); Open model sm_parts_mesh.slx> sm_parts_mesh %% % <<sm_parts_mesh_mechanics_explorer.png>> %% Extrusion Scripts: Link % % MATLAB function Extr_Data_LinkHoles.m creates a cross-section for a % rectangular solid with rounded ends. An arbitrary number of holes can be % put in the part. Part Link uses Extr_Data_LinkHoles.m to create a part. % It can have an arbitrary number of holes, but only provides interface % ports at the end holes. For links with more interface ports, assemble % them from link segments. % % The Link part is often combined with the Rod part to create mechanisms % such as four-bar linkages. Note the port labels - the Rod ports connect % to frames oriented so that they will extend away from the Link part, The % port you connect determines the side of the link where the rod will % appear. Extr_Data_LinkHoles(0.1, 0.025, 0.005, 4,'plot'); %% % <matlab:open_system('sm_parts_link'); Open model sm_parts_link.slx> sm_parts_link %% % <<sm_parts_link_mechanics_explorer.png>> %% Extrusion Scripts: Link Segment, 2 Holes % % MATLAB function Extr_Data_Link2Hole.m creates a cross-section for a % segment of a mechanical link between two holes. It is used by the Link % Seg 2 Holes part which enables you to construct a mechanical link with an % arbitrary number and location of holes and associated interface ports. % % The link part is often combined with the other Link Seg 2 Holes parts and % Link End parts to create custom mechanical links. Extr_Data_Link2Hole(0.05, 0.025, 0.005,'plot') %% % <matlab:open_system('sm_parts_custom_link'); Open model sm_parts_custom_link.slx> sm_parts_custom_link %% % <<sm_parts_custom_link_mechanics_explorer.png>> %% Extrusion Scripts: Link Segment, 1 Hole % % MATLAB function Extr_Data_Link1Hole.m creates a cross-section for a % segment of a mechanical link with a hole at one end. It is used by the % Link Seg 1 Hole part which enables you to construct a mechanical link % with an arbitrary number and location of holes and associated interface % ports. You can select which end of the link has the hole, either at the % positive or negative end of the local X-axis. % % The link part is often combined with the other Link Seg 2 Holes parts and % Link End parts to create custom mechanical links. Extr_Data_Link1Hole %% % <matlab:open_system('sm_parts_custom_link_flatend'); Open model sm_parts_custom_link_flatend.slx> sm_parts_custom_link_flatend %% % <<sm_parts_custom_link_flatend_mechanics_explorer.png>> %% Extrusion Scripts: Cam from two Circles % % MATLAB function Extr_Data_Cam_Circles.m creates a cross-section formed % by connecting two circles via two tangent lines. It is similar to the % shape of very simple cams. Extr_Data_Cam_Circles %% % <matlab:open_system('sm_parts_cam_circles'); Open model sm_parts_cam_circles.slx> sm_parts_cam_circles %% % <<sm_parts_cam_circles_mechanics_explorer.png>> %% Extrusion Scripts: Gear % % MATLAB function Extr_Data_Gear.m creates a cross-section for an external % or an internal toothed gear. % Extr_Data_Gear('internal',0.125*3,36,0.02,'plot'); %% Extr_Data_Gear('external',0.125,12,0.005,'plot'); %% % <matlab:open_system('sm_parts_gears'); Open model sm_parts_gears.slx> sm_parts_gears %% % <<sm_parts_gears_mechanics_explorer.png>> %% Extrusion Scripts: Rack % % MATLAB function Extr_Data_Rack.m creates a cross-section for a rack. % Extr_Data_Rack(pi*0.125/12,8,0.02,'plot'); %% % <matlab:open_system('sm_parts_rack_and_pinion'); Open model sm_parts_rack_and_pinion.slx> sm_parts_rack_and_pinion %% % <<sm_parts_rack_and_pinion_mechanics_explorer.png>> %% Extrusion Scripts: Cone % % MATLAB function Extr_Data_Frustum.m creates a cross-section that can be revolved to create a conical solid. % Extr_Data_Frustum_Conical(37.5e-3,60,4e-2,30e-3,'plot'); %% % <matlab:open_system('sm_parts_cone'); Open model sm_parts_cone.slx> sm_parts_cone %% % <<sm_parts_cone_mechanics_explorer.png>> %% %clear all close all bdclose all