• Representing Machines with Models

• Modeling Grounds and Bodies

• Modeling Degrees of Freedom

• Constraining and Driving Degrees of Freedom

• Cutting Machine Diagram Loops

• Applying Motions and Forces

• Sensing Motions and Forces

• Adding Internal Forces

• Combining One- and Three-Dimensional Mechanical Elements

• Validating Mechanical Models

• Configuring SimMechanics Models in Simulink

• Configuring Methods of Solution

• Starting Visualization and Simulation

• How SimMechanics Software Works

• Troubleshooting Simulation Errors

• Improving Performance

• Generating Code

• Limitations

• Dynamics of Mechanical Systems

• Finding Forces from Motions

• Trimming Mechanical Models

• Linearizing Mechanical Models

• Guide to This Chapter

• About the Stewart Platform

• Modeling the Stewart Platform

• Trimming and Linearizing Through Inverse Dynamics

• About Controllers and Plants

• Analyzing Controllers

• Designing and Improving Controllers

• Generating and Simulating with Code

• Simulating with Hardware in the Loop

• About SimMechanics Visualization

• About Body Color and Geometry: Default, Standard, and Custom

• Hierarchy of Body, Machine, and Model Visualization Settings

• Introducing the SimMechanics Visualization Window

• Controlling Body and Body Component Display

• Adjusting the Camera View

• Communicating with the Model from the Visualization Window

• Controlling and Timing Simulation from the Visualization Window

• Controlling Animation

• Recording Animation

• Visualization Menus and Their Controls

• About Custom SimMechanics Visualization

• Customizing Visualized Body Colors

• Customizing Visualized Body Geometries

• Visualizing with a Virtual Reality Client

• Introducing Mechanical Import

• Generating New Models from Physical Modeling XML

• Working with Generated Models

• Updating Generated Models Using Physical Modeling XML

• Controlling Model Update at the Block Level

• Troubleshooting Imported and Updated Models

• About the CAD Translation Case Studies

• Translating a CAD Part into a Body

• Translating CAD Constraints into Joints

• Updating and Retranslating a CAD Pendulum

• Translating a CAD Robot Arm

• Translating a CAD Stewart Platform

• SimMechanics Pane: General

• Import Physical Modeling XML Dialog Box

• Mechanical Conventions and Abbreviations

  Mechanical Units