Mathworks SIMMECHANICS RELEASE NOTES

SimMechanics™ Release Notes

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SimMechanics™ Release Notes

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Summary by Version ............................... 1

Contents

Version 3.2 (R2010a) SimMechanics Software

Version 3.1.1 (R2009b) SimMechanics Software

Version 3.1 (R2009a) SimMechanics Software

Version 3.0 (R2008b) SimMechanics Software

Version 2.7.1 (R2008a) SimMechanics Software

Version 2.7 (R2007b) SimMechanics Software

Version 2.6 (R2007a) SimMechanics Software

Version 2.5 (R2006b) SimMechanics Software

Version 2.4 (R2006a) SimMechanics Software

Version 2.3 (R14SP3) SimMechanics Software

........ 5

....... 8

........ 9

........ 10

....... 15

........ 16

........ 19

........ 22

........ 25

........ 27

Version 2.2.2 (R14SP2) SimMechanics Software

Version 2.2.1 (R14SP1) SimMechanics Software

Version 2.2 (R14) SimMechanics Software

Version 2.1.1 (R13SP1) SimMechanics Software

Version 2.1 (R13+) SimMechanics Software

............ 33

.......... 41

...... 30

...... 31

...... 40

iii

Version 2.0.1 (R13+) SimMechanics Softwa re ......... 43

Version 2.0 (R13+) SimMechanics Software

Compatibility Summary for SimMechanics Software

.......... 44

.. 46

iv Contents

SummarybyVersion

This table provides quick access to what’s new in each version. For clarification, see “Using Release Notes” on page 2 .

SimMechanics™ Release Notes

Version (Release)

Latest Version V3.2 (R2010a)

V3.1.1 (R2009b)

V3.1 (R2009a)

V3.0 (R2008b)

New Features and Changes

Yes Details

No No Bug Reports

Yes Details

Version Compatibilit Consideratio

No Bug Reports

Yes Summary

Fixed Bugs and Known Problems

Includes fixes

Bug Reports Includes fixes

Related Documentation at Web Site

Printable Release Notes: PDF

Current product documentation

V2.7.1 (R2008a)

V2.7

07b)

(R20

V2.6 (R2007a)

Yes Details

Yes

ils

Deta

Yes Details

No Bug Reports

Includes fixes

No Bug R e

Incl

Yes Summary

Bug Reports Includes fixes

ports

udes fixes

Printable Product Documentation: PDF

SimMechanics™ Release Notes

Version (Release)

V2.5 (R2006b)

V2.4 (R2006a)

V2.3 (R14SP3)

V2.2.2 (R14SP2)

V2.2.1 (R14SP1)

V2.2 (R14)

V2.1.1 (R13SP1)

V2.1 (R13+)

New Features and Changes

Yes Details

No No Yes

Yes Details

Version Compatibility Considerations

Yes Summary

No Bug Reports

Yes Summary

Fixed Bugs and Known Problems

Bug Reports Includes fixes

at Web site

Fixed bugs at Web site

Details

Fixed bugs at Web site

Related Documentation at Web Site

V2.0.1 (R13+)

V2.0 (R13+)

No No Yes

Details

Yes Details

Fixed Bugs at Web Site

Using Release Notes

Use release notes when upgrading to a newer version to learn about:

• New features

• Changes

• Potential impact on your existing files and practices

SummarybyVersion

Review the release notes for other MathWorks™ products required for this product (for example, MATLAB

or Simulink®). Determine if enhancements,

bugs, or compatibility considerations in other products impact you.

If you are upgrading from a software version other than the m ost recent one, review the current release notes and all interim versions. For example, when you upg rade from V1.0 to V1.2, review the release notes for V1.1 and V1.2.

What Is in the Release Notes

New Features and Changes

• New functionality

• Changes to existing functionality

Version Compatibility Con si derations

When a new feature or change introduces a reported incompatibility between versions, the Compatibility Considerations subsection explains the impact.

Compatibility issues reported after the product release appear under Bug Reports at The MathWorks™ Web site. Bug fixes can sometimes result in incompatibilities, so review the fixed bugs in Bug Reports for any compatibility impact.

Fixed Bugs and Known Problems

The MathWorks offers a user-searchable Bug Reports database so you can view Bug Reports. The development team updates this database at release time and as more information becomes available. Bug Reports include provisions for any known workarounds or file replacem ents. Information is available for bugs existing in or fixed in Release 14SP2 or later. Information is not avail able for all bugs in earlier releases.

Access Bug Reports using y our MathWorks Account.

SimMechanics™ Release Notes

About Commands Being Removed

This section lists commands removed or in the process of being removed. Commands typically go through several stages across multiple releases before being co mplete ly removed. This provides time for you to make adjustments to your code.

• Announcement — The Release Notes announce the planned removal, but

• Warning — When you execute the command, it d isplays a warning message

• Error — When you execute the command, it produces an error. The error

• Removal — When you run the command, it fails. The error message is the

Commands might be in a stage for one or more releases before moving to another stage. Commands are listed in the Commands Being Removed section only when they enter a new stage and their behavior changes. For example, if a command displayed a warning in the previous release and errors in this release, it appears on the list. If it continues to display a warn i ng , it does n ot appear on the list because there was no change between the releases.

there are no functional changes; the command runs as it did before.

indicating it will be removed in a future release; otherwise the command executes as it did before.

message indicates the com mand was removed and suggests a replacement command, if one is available.

standard message when MATLAB does not recognize an entry.

Not all commands go through all stages. For example, a command’s impending removal might not be announced, but instead, the first notification might be that the command displays a warning.

The Release Notes include actions you can take to mitigate the effects of command removal, such as adapting your code to use a replacement command.

Version 3.2 (R2010a) SimMechanics™ Software

Version 3.2 (R2010a) SimMechanics Software

This table summarizes what’s new in Version 3.2 (R2010a):

New Features and Changes

Yes No Bug Reports

Version Compatibility Considerations

New features and changes introduced in this version are

• “Optional Simplification of Subsystem Hierarchy During Model Import”

on page 5

• ““What’s This?” Context-Sensitive Help Available for Import Physical

Modeling XML Dialog Box” on p age 6

• “Connection Port Block Consolidated to Simscape Library and

Documentation” on page 6

• “New Demos” on page 6

Fixed Bugs an d Known Problems

at Web site

Optional Simplification of Subsystem Hierarchy During Model Import

When you generate SimMechanics™ models with the mech_import command, you can now choose certain automatic simplification s of the imported model’s hierarchy:

Related Documentation at Web Site

Printable Release Notes: PDF

Current product documentation

• Bringing all joints in the generated model to the highest level being

imported, either the whole m ode l or a subsystem.

• Grouping all we lded bodies at each level of the model hierarchy into new

rigid subsystems at the same level.

Without these options, the generated model’s hierarchy follow s the h ierarchy specified in the imported XML file, derived from its original CAD assembly.

SimMechanics™ Release Notes

“What’s This?” Context-Sensitive Help Available for Import Physical Modeling XML Dialog Box

This release introduces “What’s This?” context-sensitive help for parameters that appear in the Import Physical Modeling XML dialog opened by entering

mech_import with no arguments at the command line. This feature provides

quick access to a detailed description of the parameters, saving you the time it would take to find the information in the Help browser.

To use the "What’s This?" help, do the following:

1 Placeyourcursoroverthelabelofaparameter.

2 Right-click. A What’s This? context menu appears.

For example, the following figure shows the What’s This? context menu appearing after a right-click on the Start time parameter in the Solver pane.

3 Click What’s This? A context-sensitive help window appears showing a

description of the parameter.

Connection Port Block Consolidated to Simscape Library and Documentation

The Connection Port block has been removed from the block libraries of all add-on products dependent on Simscape™ software. When using these dependent add-on products, look for the Conne ction Port block in the Simscape “Utilities” library.

The Connection Port block help for these add-on products now directs you to the Simscape block reference.

New Demos

Two new demos have been added.

Version 3.2 (R2010a) SimMechanics™ Software

Model Hierarchy Simplification During Import

You can learn m ore about how to simplify importe d model hierarchy by reviewing the new demo page.

This demo uses two new Physical Modeling XML files,

SimplificationExample1.xml and SimplificationExample2.xml.

Reference Coordinate Systems in Imported Physical Modeling XML

With the SimMechanics Link utility, you can export reference coordinate systems that you insert into CAD assemblies. (This feature is not supported on all CAD platforms. ) From the ex ported Physical Modeling XML, you can generate a SimMechanics model with extra B ody coordinate systems corresponding to the assembly reference coordinate systems and not associated with CAD constraints and automatically generated Joints.

Using the new can u se reference coordinate systems to help you manually add a Constraint block to a model after import.

GearAssembly.xml file, the new demo page explains how you

SimMechanics™ Release Notes

Version 3.1.1 (R2009b) SimMechanics Software

This table summarizes what’s new in Version 3.1.1 (R2009b):

New Features and Changes

No No Bug Reports

Version Compatibility Considerations

Fixed Bugs an d Known Problems

at Web site

Related Documentation at Web Site

Version 3.1 (R2009a) SimMechanics™ Software

Version 3.1 (R2009a) SimMechanics Software

This table summarizes what’s new in Version 3.1 (R2009a):

New Features and Changes

No No Bug Reports

Version Compatibility Considerations

Changes introduced in this version are

• “Changes to External Virtual Reality Visualization” on page 9

• “Pro/ENGINEER CAD Translation Case Study” on page 9

Fixed Bugs an d Known Problems

at Web site

Changes to External V irtual Reality Visualization

The new Simulink®3D Animation™ software replaces the Virtual Reality Toolbox™ product for visualizing virtual scenes. The documentation section on building and using a virtual reality client to visualize SimMechanics models has been updated to reflect this change.

Pro/ENGINEER CAD Translation Case Study

The CAD translation chapter now contains a case study demonstrating assembly export and re-export, along with model import and update. The study uses SimMechanics and Si mMechanics Link software, together with Pro/ENGINEER a triple pendulum. The study illustrates how you can update an existing generated CAD-based model with successive changes to the original CAD assembly.

, and models a double pendulum, subsequently modified to

Related Documentation at Web Site

SimMechanics™ Release Notes

Version 3.0 (R2008b) SimMechanics Software

This table summarizes what’s new in Version 3.0 (R2008b):

New Features and Changes

Yes

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are

• “New SimMechanics Visualization and Animation” on page 10

• “New SimMechanics Link Utility” on page 12

• “Upgraded Mechanical Import and Automatic Model Generation” on page

• “BodyBuilder for Creating STL Body Geometry Files” on page 13

• “Command Being Removed” on page 14

• “SimMechanics Documentation Reorganized” on page 14

• “Physical Modeling of Mechanical Friction” on page 14

Fixed Bugs an d Known Problems

Bug Reports at Web site

Related Documentation at Web Site

New SimMechanics Visualization and Animation

The visualization has been upgraded with new features and a new interface. It now supports

• Customizable body geometries with STL (stereolithographic) files

• Customizable body colors

• Better dynamic view control

• Better animation speed control

Version 3.0 (R2008b) SimMechanics™ Software

Consult the new SimMechanics Visualization and Import Guide for complete information.

For more about creating STL files, see “BodyBuilder for Creating STL B ody Geometry Files” on pag e 13.

Compatibility Considerations

The old SimMechanics visualization allowed you to save visualization settings to a MAT-file associated with a SimMechanics model.

When you open such a model in the new version, the model will attempt to load the MAT-file, as before, and map the old visualization options to the new optionsascloselyaspossible. Thisisaone-time conversion. The MAT-file has tobeontheMATLABpathsoitcanbefoundwhenyouopenthemodel.

To save these converted visualization settings:

1 You must open the visualization window and save these settings to the

model.

2 Then you must save the model itself.

Usethevisualizationcontrolstosavethesettingstothemodel. Seethe SimMechanics Visualization and Import Guide.

Caution Tosavevisualizationsettingsfromanoldmodelinthenew visualization, you must follow these steps, in this order. Otherwise, you might lose the old settings permanently.

Compressed Animation Recording from New Visualization on Windows Vista and 64-Bit Windows Operating Systems

To compress a recorded animation of a s imulation, you need the Indeo 5 codec. This codec might not be available on the 32-bit Windows Vista™ operating system and the 64-bit Windows you require compression and the codec is not found, the animation AVI file is still saved, but without compression. A warning appears.

XP and Windows Vista operating systems. If

SimMechanics™ Release Notes

For further details, consult Technical Solution 1-1HTNHW a t the MathWorks web site.

New Visualization Window Status Bar Not Available on Intel Mac Operating System

The status bar of the new visualization window, below the machine display, doesnotappearatallontheIntel operating systems, the status bar shows simulation time, as well as Body block and coordinate system names.

New Visualization Not Supported on Solaris 64 UNIX Operating System

The new visualization and animation interface is not available on the Solaris 64 UNIX operating system. SimMechanics software automatically reverts to the old visualization interface.

Consult the R2008a SimMechanics User’s Guide (PDF format) on the MathWorks Web site for more information about the old visualization interface (chapter 6).

Mac®operating system. On other

New SimMechanics Link Utility

The new SimMechanics Link utility provides a bridge from third-party mechanical design and modeling applications to the system and control design features of MATLAB and Simulink. It connects computer-aided design (CAD) platforms to mechanical modeling with SimMechanics software by enabling export of CAD assemblies into the Physical Modeling XML format that allows for automatic generation of SimMechanics models.

Refer to the SimMechanics Link documentation for more information. The SimMechanics Link utility requires MATLAB, but not Simulink, Simscape, or SimMechanics.

Version 3.0 (R2008b) SimMechanics™ Software

Upgraded Mechan

ical Import and Automatic Model

Generation

ort

The new mech_imp Modeling XML fi supports a new

SimMechanics feature, updating models generated previously.

Compatibility Considerations

Physical Mod translators can still imp these m odel visualize u

The updati XML files g feature do old CAD-t

You shoul with the page 14.

eling XML files generated by the old CAD-to-SimMechanics

remain compatible with

ort old XML files to generate SimMechanics models. Because

s have no associated exported STL body geometry files, they will

sing the standard (noncustom) body shapes.

ng feature of

enerated by exporting from the SimMechanics Link utility. This es not work with Physical Modeling XML files generated from the o-SimMechanics translators.

d replace all existing instances of the

new

mech_import command. See “Command Being Removed” on

command works with externally defined Physical

les to automatically generate SimMechanics models. It

mech_import works only with Physical Modeling

mech_import.Usingthiscommand,you

import_physmod command

Cautio

SimMec new Sim

BodyB

In ad CAD a geom prov vis MAT

n Do not attempt to use the

hanics versions with Physical Modeling XML files generated by the

Mechanics Link exporter.

uilder for Creating STL Body G eometry Files

dition to generating STL body geometry files automatically from a

ssembly, you can also create STL files by hand or by using a body

etry editor. BodyBuilder is an application based on MATLAB that

ides a graphical means to create STL files for use in SimM echanics body

ualization. You can obtain BodyBuilder from MATLAB Central. In the

LAB Desktop File Exchange tool, search for “BodyBuilder”.

import_physmod command in older

SimMechanics™ Release Notes

Command Name

import_physmod

Command Being Re

What Happens When You Use Command?

Still runs

SimMechanic

The SimMech

Book

SimMechanics Getting Started Guide

SimMechanics User’s Guide

SimMechanics Visualization and Import Guide

SimMechanics Reference

Use This Instead

mech_import

s Documentation Reor ganized

anics documentation is now organized into four books.

moved

Compatibility Consid e rations

Replace all existing instances of

import_physmod with mech_import.

Includes Material from O ld Chapters

1, 2, and 3

4, 5, 8, and 9

6and7

10, 11, 12, and 13

Physical Modeling of Mechanical Friction

ArecentMATLABDigestarticleexplainshow to simulate mechanical friction with Simulink, SimDriveline™, and S imMechanics models. A set of models accompanies the article in a compressed zip archive available from MATLAB Central. In the MATLAB Desktop File Exchange tool, search for “Mechanical Friction with S i mulink and Ph ysical Modeling”.

Version 2.7.1 (R2008a) SimMechanics™ S oftware

Version 2.7.1 (R2008a) SimMechanics Software

This table summarizes what’s new in Version 2.7.1 (R2008a):

New Features and Changes

Yes No Bug Reports

Version Compatibility Considerations

New features and changes introduced in this version are

Fixed Bugs an d Known Problems

at Web site

“What’s This?” Context-Sensitive Help Available for Simulink Configuration Parameters Dialog

R2008a introduces “What’s This?” context-sensitive help for parameters that appear in the Simulink Configuration Parameters dialog. This feature provides quick access to a detailed description of the parameters, saving you the time it would take to find the information in the Help browser.

To use the "What’s This?" help, do the following:

1 Placeyourcursoroverthelabelofaparameter.

2 Right-click. A What’s This? context menu appears.

For example, the following figure shows the What’s This? context menu appearing after a right-click on the Start time parameter in the Solver pane.

Related Documentation at Web Site

Printable Product Documentation: PDF

3 Click What’s This? A context-sensitive help window appears showing a

description of the parameter.

SimMechanics™ Release Notes

Version 2.7 (R2007b) SimMechanics Software

This table summarizes what’s new in Version 2.7 (R2007b):

New Features and Changes

Yes No Bug Reports

Version Compatibility Considerations

New features and changes introduced in this version are

• “Interfacing with One-Dimensional Simscape Domains” on page 16

• “SimMechanics State Name s Now Available to Simul in k and Real-Time

Workshop” on page 17

• “Controlling Redundant Constraint Analysis with New Tolerance Setting”

on page 17

• “New Demos” on page 17

• “Code Generation Documentation Consolidated to Simscape User’s Guide”

on page 18

Fixed Bugs an d Known Problems

at Web site

Interfacing with One-Dimensional Simscape Domains

The Prismatic-Translational Interface and Revolute-Rotational Interface blocks of the new Interface Elements library allow you to connect a SimMechanics Prismatic or Revolute joint primitive to a Physical Networks line connected to Simscape blocks. The Prismatic-Translational Interface and Revolute-Rotational Interface blocks transfer mechanical velocities and forces/torques as Physical Networks cross- and through-variables, respectively, without energy loss, along or around axes that you can define.

Related Documentation at Web Site

Several new demos illustrate the use of the Interface Elements blocks. See “New Demos” on page 17.

Version 2.7 (R2007b) SimMechanics™ Software

SimMechanics St Simulink and Rea

You can access th models through states and the Simulink and a in simulation

See the Simul about states

Controllin Tolerance S

You can now analysis i allows you specifyi

Certain m toleran is adjus SimMech in the S

ntheConstraints tab of the Machine Environment block, which

to choose between automatic constraint redundancy analysis or

ng a constraint redundancy tolerance explicitly.

echanical configurations are sensitive to the constraint redundancy

ce and can spuriously lose or gain degrees of freedom if this tolerance

ted incorrectly. See “Configuring Methods of Solution”, “How

anics Software Works”, and “Troubleshooting Simulation Errors”

imMechanics User’s Guide.

enamesofthemechanicalstates of your SimMechanics

the

mech_stateVectorMgr command. The names of these

SimMechanics blocks that define them are now available to

ppear in the outputs of model simulations. They also appear

s based on code generated with Real-Time Workshop

ink and Real-Time Workshop documentation for further details

gRedundantConstraintAnalysiswithNew

etting

adjust the sensitivity of the SimMechanics redundant con strain t

ate Names Now Available to

l-Time Workshop

New Dem

Nine n

ew demos have been added.

Interface Blocks

e demos illustrate how to use the new Interface Elements blocks. See

Thes

erfacing with One-Dimensional Simscape Domains” on page 16.

“Int

h_interface_crate_transfer

•

mec

h_interface_dspring_damper

• mec

h_interface_hyd_cylinder

• mec

ch_interface_hyd_slidercrank

• me

SimMechanics™ Release Notes

• mech_interface_rot_spr_damper

• mech_interface_trans_spr_damper

Car Modeling

These new demos prov ide examples of sophisticated automotive modeling.

•

• mech_car_kinematics

These demos shipped in the Version 2.6 (R2007a) SimMechanics product.

Code Generation Documentation Consolidated to Simscape User ’s Guide

Documentation of code generation features common to all Physical Modeling add-on products based on Simscape software has been consolidated to the Simscape User’s Guide.TheSimMechanics User’s Guide continues to document uniquely SimMechanics features related to code generation.

mech_car_handling

Version 2.6 (R2007a) SimMechanics™ Software

Version 2.6 (R2007a) SimMechanics Software

This table summarizes what’s new in Version 2.6 (R2007a):

New Features and Changes

Yes

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are

• “SimMechanics Software Now Requires Simscape Product” on page 19

• “Sharing Models Using Simscape Editing Mode s” on page 19

• “Block Library Links Must Be Resolved” on page 20

• “Two Blocks Now with Tunable Parameters” on page 20

• “Demos Expanded” on page 21

• “Modeling Constraints wi th SimMechanics Software” on page 21

Fixed Bugs an d Known Problems

Bug Reports at Web site

Related Documentation at Web Site

SimMechanics Software Now Requires Simscape Product

SimMechanics software now depends on and requires Simscape software, the foundation for Physical Modeling products. Simscape software includes common Physical Modeling utilities and block libraries. See “Product Overview” and the Simscape documentation.

Sharing Models Using Simscape Editing M odes

SimMechanics software now features a selection of two Simscape editing modes that allow full or restricted editing of models.

SimMechanics™ Release Notes

• TheRestrictedmoderequiresSimMechanics product to be installed, but

• The Full mode requires both Simscape and SimMechanics products to be

For more details, see “Using the Simscape Editing Mode” in “Running Mechanical Models”.

Block Library Links Must Be Resolved

All SimMechanics blocks in your models must now have resolved block library links. You can neither disable nor break these library links. This is a global Simscape requirement. Consult the Simscape documentation for further details.

Compatibility Considerations

If you have an existing SimMechanics model with disabled or broken links from SimMechanics blocks to the SimMechanics block library, you must restore all the broken block library links for your model to be valid.

does not require a license. It allows you to change a limited set of model parameters, but not the blocks or connections, in a SimMechanics model.

installed. It allows you to change anythin g in a SimMechanics model.

If you have disabled or broken the SimMechanics library link for blocks that you have customized and want to keep these modified blocks in your model, you must move these modified blocks to your own custom library or libraries, then copy the block instances that you need to your model.

You must still restore the block link to its parent library, whether that parent is the SimMechanics block library or your own.

Two Blocks Now with Tunable Parameters

These SimMechanics parameters are now tunable from their respective block dialogs:

• The Gravity vector field of the Machine Environment block.

• All three parameter fields of the Body Spring & Damper block.

Version 2.6 (R2007a) SimMechanics™ Software

See “Limitations” in “Running Mechanical Models” for more about SimMechanics tunable parameters and the Simulink documentation for tunable parameters in general.

Demos Expanded

Five new demos have been added.

Angular Motion Equivalence

The mech_gimbal_transform demo shows the equivalence of a body’s angular motion as measured by Joint Sensors and as measured by Body Sensors.

Joint Limits

Two demos illustrate how to model limits or clearance on joint motion:

•

mech_jointlimit_prismatic

• mech_jointlimit_revolute

The first illustrates limits on translational motion; the second, limits on rotational motion.

Stochastic Oscillator and Controller

Two demos simulate a mixture of deterministic and random forces with a model of a micromechanical damped linear oscillator:

•

mech_brownian_osc

• mech_brownian_osc_control

The first model has no controller; the second, a control force in addition to the damped spring and white noise forces.

Modeling Constraints with SimMechanics Software

A new MATLAB Dige st article explains how to model mechanical constraints with SimMechanics blocks. The article uses a set of four existing SimMechanics demos as illustrations.

SimMechanics™ Release Notes

Version 2.5 (R2006b) SimMechanics Software

This table summarizes what’s new in Version 2.5 (R2006b):

New Features and Changes

Yes

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are described here.

• “Computer-Aided Design Translator for Pro/ENGINEER Available via

theWeb”onpage22

• “SolidWorks-to-SimMechanics Translator Now Available Only via the

Web” on page 23

• “New Demo” on page 24

• “Modeling Flexible Bodies with SimMechanics Software” on page 24

Fixed Bugs an d Known Problems

Bug Reports at Web site

Related Documentation at Web Site

Computer-Aided Design Translator for Pro/ENGINEER Available via the Web

A new computer-aided design (CAD) Pro/ENGINEER -to-SimMechanics translator is available. You install and use this translator with Pro/ENGINEER. It is independent of MATLAB.

The translator converts a Pro/ENGINEER CAD machine assembly into an XML file in the Physical Modeling format. The XML file represents the assembly in a form that you can use to generate a SimMechanics block diagram model dynamically equivalent to the original CAD assembly. To generate models, use the

import_physmod command.

Version 2.5 (R2006b) SimMechanics™ Software

Installing the Pro/ENGINEER-to-SimMechanicsTranslator

Obtain and use the installer executable by locating and downloading its archive at is provided that describes installation and configuration details.

www.mathworks.com/products/simmechanics/. A README page

Translator Documentation

Help files accompany the Pro/ENGINEER-to-SimMechanics translator. They include two HTML pages and a PDF book. These files are independent of the MATLAB help system.

Translator Examples

Some examples of Pro/ENGINEER CAD assemblies are included with the Pro/ENGINEER-to-SimMechanics translator.

One of the examples is a robot arm assembly. The corresponding XML file in Physical Modeling format,

toolbox/physmod/mech/mechdemos/ folder, relative to your MATLAB root.

robot.xml,islocatedinthe

Compatibility Considerations

Versions of Pro/ENGIN EER compatible with the Pro/ENGINEER-to-SimMechanics translator are listed at the MathWorks Web site. The translator is available only for the M icrosoft Windows (32-bit) operating system.

SolidWorks-to-SimMechanics Translator Now Available Only via the Web

The existing SolidWorks®-to-SimMechanics translator for the SolidWorks CAD platform con t i nu es to be available via the Web , at

www.mathworks.com/products/simmechanics/. However, it no longer ships

with the SimMechanics product.

Compatibility Considerations

Versions of SolidWorks compatible with the SolidWorks-to-SimMechanics translator are listed at the MathWorks Web site.

SimMechanics™ Release Notes

The SolidWorks CAD platform and the SolidWorks-to-SimMechanics translator are available only for the Microsoft Windows (32-bit) operating system.

New Demo

This version of SimMechanics software includes one new demo model,

mech_brownian_osc, a stochastic linear harmonic oscillator based on micro-

and biomechanics.

Modeling Flexible Bodies with SimMechanics Software

A new MATLAB Digest article and related technical paper explain how to simulate flexible bodies with SimMechanics models and third-party finite element analysis applications. A set of models accompanies the technical paper in a compressed zip archive available from MATLAB Central. In the MATLAB Desktop File Exchange tool, search for “Modeling Flexible Bodies in SimMechanics”.

Version 2.4 (R2006a) SimMechanics™ Software

Version 2.4 (R2006a) SimMechanics Software

This table summarizes what’s new in V2.4 (R2006a):

New Features and Changes

Yes

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are described here.

• “New Block Dialogs and the Simulink Model Explorer” on page 25

• “Joint Spring & Damper Adds Extra Simulink State When Connected to a

Revolute” on page 25

• “Improved SolidWorks CAD Translation” on page 26

Fixed Bugs an d Known Problems

Bug Reports at Web site

Related Documentation at Web Site

New Block Dialogs and the Simulink Model Explorer

Most of the SimMechanics block dialogs have been u pgraded and are now compatible with the Simulink Model Explorer. See the Simulink documentation for more about Model Explorer.

Block Dialogs Not Rendered in Model Explorer

Model Explorer cannot render the dialogs of these blocks:

• Shared Environment

• Point-Curve Constraint

Joint Spring & Damper Adds Extra Simulink State When Connected to a Revolute

Each Joint Spring & Damper block connected to a revolute primitive now adds a Simulink state to your model. These states a re in addition to other normal

SimMechanics™ Release Notes

Simulink states, such as those associated with Integrator and Transfer Fcn blocks. See the Simulink documentation for more about Simulink model states.

This new feature does not change the mechanical states of your model, those associated with SimMechanics joint b locks. See the command reference for more about mechanical states.

Improved SolidWorks CAD Translation

The SolidWorks-to-SimMechanics translator and Physical Modeling XML import command have been improved. See “Importing Mechanical Models” and the Guide.

• Mates in a CAD assembly (restrictions on the free motion of CAD parts)

mech_stateVectorMgr

import_physmod command reference in the SimMechanics User’s

are n ow translated into Joint blocks that reflect a particular combination of joint primitives, such as Prismatic, Revolute, Spherical, Bushing, etc. Previously, all degrees of freedom in a CAD assembly were translated into appropriately configured Custom Joint blocks. Rigid connections between parts continue to be translated into Welds.

• Blocks in SimMechanics models generated from Physical Modeling XML

files are now, by default, labeled with shorter names. You can change the naming convention in the

import_physmod command options.

Version 2.3 (R14SP3) SimMechanics™ Software

Version 2.3 (R14SP3) SimMechanics Software

This table summarizes what’s new in V2.3 (R14SP3):

New Features and Changes

Yes No Bug Reports

Version Compatibility Considerations

New features and changes introduced in this version are described here.

• “New Shared Environment Block” on page 27

• “Updated Body Spring & Damper Block” on page 27

• “Normalizing Rotations” on page 28

• “New State Vector Commands” on page 28

• “New import_physmod Dialog” on page 28

• “Demos Expanded” on page 28

• “Documentation Enhancements” on page 29

Fixed Bugs an d Known Problems

at Web site

New Shared Environment Block

The new Shared Environment block allows you to link two separate SimMechanics block diagrams with a nonphysical connection. The block enforces the same machine environment settings on both machines but adds no mechanical components (bodies or degrees of freedom) to either. Two machines so connected require exactly one Machine Environment block, rather than two.

Related Documentation at Web Site

See the Shared Environment block reference for further details.

Updated Body Spring & Damper Block

The Body Spring & Damper block no longer contains any degrees of freedom.

SimMechanics™ Release Notes

Previous versions of the Body Spring & Damper block contained six degre es of freedom (DoFs) represented by a Joint. This Joint had to be taken into account when counting DoFs and loops in your model.

The new Body Spring & Damper block in ste ad uses a Shared Environment block to connect the two sides and contains no DoFs. See their respective block references for more information.

Normalizing Rotations

The Body dialog accepts various rotational forms (Euler angles, rotation matrix, quaternion). The Body block now interprets these rotational form s in a slightly different way, so that the standard normalization conditions on rotation matrices and quaternions are consistently enforced. As a result, you might now see slightly different simulation results from earlier versions.

New State Vector Commands

Four new SimMechanics commands allow you to manipulate the mechanical states of your models. See the command references for more.

•

mech_get_states

• mech_runtime_states

• mech_set_states

• mech_transfer_states

New import_physmod Dialog

The import_physmod command generates SimMechanics m odels from Physical Modeling XML files. In addition to importing Physical Modeling XML through the command line, you can now set up the command through a dialog.

See the

import_physmod command reference for further information.

Demos Expanded

Two new demos have been added:

•

mech_flexible_four_bar models a flexible four bar machine.

Version 2.3 (R14SP3) SimMechanics™ Software

• mech_pole_vault models a rigid pole vaulter, with a discrete event.

The second demo has an associated MAT-file.

Documentation Enhancements

The SimM echanics User’s Guide has been enhanced.

• The review on representing motion has been revised.

• The analyzing motion has been revised.

• The computer-aided design (CAD) documentation (also available as a

separate book) has been significantly revised. See the CAD chapter.

• A new chapter of case studies, based on the Stewart platform, has been

added. The studies apply advanced methods and tasks to this system. SimMechanics softw are includes a related set of demo model and library files.

- Degrees of freedom, states, closed topology, and constraints

- Trimming and linearization

- Designing controllers for the platform

- Generating code versions of the model

- Implementing code on dedicated hardware (hardware in the loop)

SimMechanics™ Release Notes

Version 2.2.2 (R14SP2) SimMechanics Software

This table summarizes what’s new in V2.2.2 (R14SP2):

New Features and Changes

Yes Details below

Version Compatibility Considerations

No Bug Reports

New features and changes introduced in this version are described here.

• “Demos Expanded” on page 30

• “Documentation Enhancements” on page 30

Fixed Bugs an d Known Problems

at Web site

Related Documentation at Web Site

Demos Expanded

Two new demos have been added:

•

mech_sticky_box

• mech_sticky_screw

Each demo has an associated MAT-file.

These demos illustrate static friction (stiction) implemented with the Joint Stiction Actuator.

Documentation Enhancements

The online SimMechanics Help has been enhanced with links to four new Web-based AVI animation files (one of them new in this release) that record SimMechanics simulations.

You can access these links most easily by using the Examples index in the Help browser, under Prerecorded Animations.

Version 2.2.1 (R14SP1) SimMechanics™ Software

Version 2.2.1 (R14SP1) SimMechanics Software

This table summarizes what’s new in V2.2.1 (R14SP1):

New Features and Changes

Yes No

Version Compatibility Considerations

New features and changes introduced in this version are described here.

• “Demos Updated and Expanded” on page 31

• “Documentation Enhancements” on page 31

Demos Updated and Expanded

The demos used in the open-topology Inverse Dynamics case study have been changed:

•

mech_dpend_invdyn1

• mech_dpend_invdyn2

• mech_dpend_act (a new demo replacing mech_dpend_stat)

The last, new demo has an associated MAT-file, “Documentation Enhancements” on page 31.

Fixed Bugs an d Known Problems

Fixed bugs at Web site

Related Documentation at Web Site

mech_dpend_act.mat.See

Two other new demos have been added:

•

mech_cambelt models a cam, belt, and pulley system with a Point-Curve

Constraint block.

•

mech_viscous illustrates how to model a viscous medium with a Join t

Spring & Damper block.

Documentation Enhancements

TheonlineSimMechanicsHelphasbeen enhanced w ith additional multimedia support.

SimMechanics™ Release Notes

• The online Help contains four detailed mechanical drawings for systems

• TheonlineHelpalsocontainslinkstothreenewWeb-basedAVIanimation

You can access these features most easilybyusingtheExamplesindex in the Help browser, under Mechanical Drawings and Prerecorded Animations,respectively.

The open-topology Inverse Dynamics section of the motion analysis chapter has been enhanced with a new, more complex and more realistic example. The related demo s have been changed as well; see “Demos Updated and Expanded” on page 31 previously.

modeled in the user’s guide: the conveyor, the four bar machine, and the Stewart platform.

files that record SimMechanics simulations.

Version 2.2 (R14) SimMechanics™ Software

Version 2.2 (R14) SimMechanics Software

This table summarizes what’s new in V2.2 (R14):

New Features and Changes

Yes

Version Compatibility Considerations

Yes—Details labeled as Compatibility Considerations, below. See also Summary.

New features and changes introduced in this version are described here.

• “Simulation and Visualization Controls Changes” on page 34

• “New Machine Environment Block” on page 34

• “Choosing a Gro u nd Block as Machine Root” on page 35

• “Optional Two-Dimensional Solver” on page 35

• “Optional Gravity Signal” on page 35

• “New SimMechanics Diagnostics Settings” on page 36

• “Restricted Body Co ordinate System References” on page 36

• “Minimum Number of Body Coordinate Systems” on page 36

• “Visualizati on Controls Relocated” on pa ge 37

Fixed Bugs an d Known Problems

Fixed bugs at Web site

Related Documentation at Web Site

• “Manual Updating of Body Visualization” on page 37

• “Internal Virtual Reality Visualization No Longer Supported” on page 37

• “Code Generation with Point-Curve Constraint Now E nabled” on page 38

• “Code Generation Improvements” on page 38

• “Additional Simulink Features Now Supported” on page 38

• “SimMechanics Software Now Supported on HP-UX Platforms” on page 38

• “Demos Updated and Expanded” on page 38

SimMechanics™ Release Notes

• “Documentation Enhancements” on page 39

Simulation and Visualization Controls Changes

This version of SimMechanics software introduces significant changes to how you control simulation, mechanical environment, and visualization in SimMechanics models. These changes, summarized below, include

• “New Machine Environment Block” on page 34

• “Choosing a Gro u nd Block as Machine Root” on page 35

• “Optional Two-Dimensional Solver” on page 35

• “Optional Gravity Signal” on page 35

• “New SimMechanics Diagnostics Settings” on page 36

• “Visualizati on Controls Relocated” on pa ge 37

• “Manual Updating of Body Visualization” on page 37

The new controls are fully documented in the SimMechanics User’s Guide chapters on running simulations and visualization.

New Machine Environment Block

In the new version of SimMechanics software, you configure the mechanical environment for an entire model in the SimMechanics node of the Configuration Parameters dialog, accessed via the Simulation menu. You configure the mechanical environment for each separate machine diagram (one or more per model) via its Machine Environment block. These two dialogs replace the old Mechanical Environment Settings dialog.

You must connect exactly one Machine Environment block to each separate machine diagram at one of the machine’s Ground blocks. The new Machine Environment block is located in the Bodies library.

See “Choosing a Ground Block as Machine Root” on page 35.

Compatibility Considerations

Prior to this version, SimMechanics models recorded mechanical environment data in the Mechanical Environment Settings dialog. Although you can

Version 2.2 (R14) SimMechanics™ Software

no longer access this dialog from the Simulation menu, you can continue to run old models as they are. If you want to view these old settings, enter

mech_environment(gcs) at the command line with your old model open. You

cannot change the dialog settings.

If you want to change the settings in old models or build a new SimMechanics model, you must use the new Machine Environment block. Copying this block from the Bodies library into an old model causes the old Mechanical Environment Settings data to be copied into the block. You can then reconfigure the new block as you want.

Choosing a Ground Block as Machine Root

The new Ground block has the option of being chosen as the root for a machine’s Machine Environment block. In each separate machine diagram (one or more per model), choose one such Ground by selecting Show Mechanical Environment port in its dialog. The corresponding port then appears on the Ground. Then connect a Machine Environment block to the Ground at this port.

See “New Machine Environment Block” on page 34.

Optional Two-Dimensional S olver

The new Machine Environment block allows you to choose, through its Machine dimensionality pull-down menu, a specialized solver fo r a machine that moves in only two dimensions. SimM echanics software detects the dimensionality and automatically adjusts the solver b y default. But you can override the default and require SimMechanics software to simulate in either three or two dimensions.

The two-dimensional solver significantly improves s imulation performance in two and one dimensions.

Optional Gravity Signal

ThenewMachineEnvironmentblock allows you to input gravity as an external Simulink signal. In the block dialog, select Input gravity as signal. A Simulink inport appears for connecting the Simulink signal line. The gravity must be a three-component vector signal. You choose the units in

SimMechanics™ Release Notes

the Gravity vector units pull-down menu of the block dialog. SimMechanics software interprets the vector gravity signal the same way it interprets the static Gravity vector field value in the block dialog.

If you choose gravity as a signal, the Gravity vector field is ignored.

New SimMechanics Diagnostics Settings

SimMechanics software now lets you control diagnostic messages. In the SimMechanics node of the Configuration Parameters dialog, accessed via the Simulation menu, you can select to enable or disable certai n warning messages, and whether to m ark closed-loop joints cut automatically by SimMechanics software.

Restricted Body Coordinate System References

All c oordinate system (CS) references in Body blocks from one CS to another CS must now refer to only

• OtherCSsonthesameBody

• Adjoining CSs (coordinate systems on Bodies directly connected to the

referring body)

• World

All other CS references now cause simulation errors.

Compatibility Considerations

Other types of CS references from one Body to another now lead to simulation errors. If any of your old models contain such references, you must update them.

Minimum Number of Body Coordinate Systems

You can no longer eliminate all the non-center-of-gravity (CG) Body coordinate systems (CSs) on a Body block dialog. Besides the undeletable CG CS entry, at least one non-CG CS must remain.

Version 2.2 (R14) SimMechanics™ Software

Visualization C

You now enable Si model in the Visu

Configuration

now enable or di via the Visual “New Machine E

All SimMecha configured M menu and tool

mMechanics visualization and animation for an entire

alization area of the SimMechanics node of the

Parameters dialog, reached via the Simulation menu. You

sable visualization for individual machines within a model

ization tab of the Machine Environment block dialog. See

nvironment Block” on page 34.

nics visualization controls are now located on the specially

ATLAB Graphics visualization window, in the SimMechanics

bar.

Manual Upda

SimMechan added to a m Diagram fr

Internal Support

SimMech Reality default suppor

ics visualization no longer immediatel y displays a Body newly

odel. Instead you must update the model by s ele cting Update

om the Edit menu.

Virtual Reality Visualization N o Longer

anics software no longer includes internally integrated Virtual Toolbox visualization. Models configured to use virtual reality now to the MATLAB Graphics visualization/animation tool, w hich is still

ted by SimMechanics software.

ontrols Relocated

ting of Body Visualization

See the in the

Consu

“Visualizing with a Virtual Reality Client” of the visualization chapter

SimMechanics documentation.

lt the Web product page for more about Virtual Reality Toolbox.

Compatibility Considerations

an continue to use Virtual Reality Toolbox with SimMechanics models

You c

eating your own virtual world for your machine, incorporating into your

by cr

el a VR Sink block linked to your virtual world, and feeding Body Sensor

mod

nals to the VR Sink.

sig

SimMechanics™ Release Notes

Code Generation Enabled

The Point-Curve This improveme containing Po

Code Generati

The stand-al precompiled significant

SimMechani

ly speeds up compilation of generated code.

Additiona

SimMechan target. I visualiz limitati

t also now supports Simulink External mode, but without

ation. See the sections on generating code and SimMechanics

ons in the SimMechanics documentation.

SimMech Platfor

SimMec (HP-UX

hanics software is now supported on the Hewlett-Packard UNIX ) operating system.

Constraint no longer creates algebraic loops in Simulink.

nt means that you can now generate code from models

int-Curve Constraints.

on Improvements

one SimMechanics library used for code generation is now for supported platforms using standard targets. This feature

cs code generation now supportsReal-TimeWindowsTarget.

l Simulink Features Now Supported

ics software now supports Model Referencing and S-function

anics Software Now Supported on HP-UX

with Point-Curve Constraint Now

Demos

All Si Envi

•

mech

forc

•

mec

•

mec

•

Updated a nd Expanded

mMechanics demos have been updated with the new Machine

ronment block. New demos have also been added:

_bouncing_ball

es using a bouncing ball.

h_flyball

h_rack_pinion

ch_rolling_sphere

nstraints using a sphere rolling on a two-dimensional surface.

models a flyball governor mechanism.

demonstrates how to model impact and collisional

models a driven rack-and-pinion mechanism.

demonstrates how to model nonholonomic

Version 2.2 (R14) SimMechanics™ Software

• mech_toroid illustrates the Point-Curve Constraint with a body sliding

on a toroidal curve.

Documentation Enhancements

The SimM echanics User’s Guide has been enhanced.

• The review chapter on body motion and coordinate systems is expanded

with greater detail and more examples.

• The computer-aided design (CAD) documentation (also available as a

separate boo k) has been significantly revised and expanded. See the CAD chapter.

• The case study sections on trimming and linearization have been revised

and expanded, including a new closed-loop linearization exam ple.

You can find a more complex closed-loop linearization example using a Stewart platform model at

www.mathworks.com/company/newsletters/digest/sept02/stewart.html

SimMechanics™ Release Notes

Version 2.1.1 (R13SP1) SimMechanics Software

This table summarizes what’s new in V2.1.1 (R13SP1):

New Features and Changes

No No Yes

Version Compatibility Considerations

New changes introduced in this version are described here.

Fixed Bugs an d Known Problems

Details below

Model Reinitialization After Simulation Errors

Restarting a model that had encountered an error during a previous simulation sometimes returned warnings and zero results. Starting the model a third time reproduced the errors of the first simulation. This bug is now fixed.

Related Documentation at Web Site

Version 2.1 (R13+) SimMechanics™ Software

Version 2.1 (R13+) SimMechanics Software

This table summarizes what’s new in V2.1 (R13+):

New Features and Changes

Yes Details below

Version Compatibility Considerations

New features and changes introduced in this version are described here.

• “Computer-Aided Design Translator for SolidWorks” on page 41

• “import_physmod Command for Generating Models” on page 42

• “Documentation and Example s for SolidWorks-to-SimMechanics

Translator” on page 42

Fixed Bugs an d Known Problems

Fixed bugs at Web site

Related Documentation at Web Site

Computer-Aided Design Translator for SolidWorks

SimMechanics version 2.1 contains a standalone computer-aided design (CAD) translator for the SolidWorks CAD platform. You install and use this translator with SolidWorks but independently of MATLAB.

The translator converts a SolidWorks CAD machine assembly into an XML file in the Physical Modeling format. The XML file represents the assembly in a form that you can use to generate a SimMechanics block diagram model dynamically equivalent to the original CAD assembly. To generate models, use the new Generating Models” on page 42 below.

import_physmod command. See “import_physmod Command for

Installing the SolidWorks-to-SimMechanics Translator

Obtain the self-extracting executable archive

SimMechanics_Translator_for_SolidWorks.exe by locating and

downloading its archive at

www.mathworks.com/products/simmechanics/.

SimMechanics™ Release Notes

import_physmod Command for Generating Models

Using the CAD-to-SimMechanics translator, you export a CAD assembly into an XML file in the Physical Modeling format. (See “Computer-Aided Des ign Translator for SolidWorks” on page 41.)

This XML file represents the assembly in a form that y ou can use to generate a SimMechanics block diagram model dynamically equivalent to the original CAD assembly. You generate the model from the XML file w ith the

The generated model contains Bodies and Joints that represent the original parts and degrees of freedom of the assembly. You can edit the generated model to add additional SimMechanics and Simulink blocks.

Documentation and Examples for SolidWorks-to-SimMechanics Translator

The SimMechanics User’s Guide has not been updated for this release.

import_physmod command.

Translator Documentation

Special help files accompany the SolidWorks-to-SimMechanics translator. They include two HTML pag es and a PDF book. These files are independent of the MATLAB help system.

Translator Examples

Some examples of SolidWorks CAD assemblies are included with the SolidWorks-to-SimMechanics translator.

One of the examples is a robot arm assembly. The corresponding XML file in Physical Modeling format,

toolbox/physmod/mech/mechdemos folder, relative to your MATLAB root.

robot.xml,islocatedinthe

Version 2.0.1 (R13+) SimMechanics™ Software

Version 2.0.1 (R13+) SimMechanics Software

This table summarizes what’s new in V2.0.1 (R13+):

New Features and Changes

No No Yes

Version Compatibility Considerations

New changes introduced in this version are described here.

Fixed Bugs an d Known Problems

Details below

Code Compilation with LCC Compiler

Attempting to compile code generated from SimMechanics models using LCC led to errors in Version 2.0. This bug is now fixed.

Related Documentation at Web Site

SimMechanics™ Release Notes

Version 2.0 (R13+) SimMechanics Software

This table summarizes what’s new in V2.0 (R13+):

New Features and Changes

Yes Details below

Version Compatibility Considerations

New features and changes introduced in this version are described here.

• “Code Generation w ith Real-Time Workshop” on page 44

• “Accelerator Mode a nd Discrete Events” on page 44

• “Expanded Handle Graphics Visualization Features” on page 45

• “Variable Body Mass and Inertia Tensor” on page 45

• “Vectorized Joint Initial Condition Actuation” on page 45

• “Damped Linear Force Element Blocks” on page 45

• “New Mechanical Branching Bar Block” on page 45

Fixed Bugs an d Known Problems

Fixed Bugs at Web Site

Related Documentation at Web Site

Code Generation with Real-Time Workshop

You can now generate stand-alone C code from SimMechanics models using Real-Time Workshop. You can also export it to a PC kernel using xPC Target.

SimMechanics version 2.0 requires Real-Time Workshop 5.0.1 or later to generate code for the Rapid Simulation (RSIM) target.

Accelerator Mode and Discrete Events

Accelerator mode now supports discrete events associated with the Joint Stiction Actuator and the Po int-C u rve Constraint.

Version 2.0 (R13+) SimMechanics™ Software

Expanded Handle

The SimMechanic including recor

Variable Body

The Sensors & A Actuator bloc inertia tens simulates th the effect of ejection of

mass.

Vectorize

The Joint I Joint bloc initial v

nitial Condition Actuator block now lists all the primitives in the

k to which it is connected. You can set initial positions/angles and

elocities separately for each prismatic and revolute primitiv e.

Damped Li

This rel represe Damper b The Joi spring

ease introduces a new block library, Force Elements, with two blocks

ntingdampedlinearharmonicoscillatorforces. TheBodySpring&

lock simulates a damped spring-like force between two bodies.

nt Spring & Damper block actuates a joint primitive with a damped

-like force or torque.

s visualization tool has a large number of new features,

ding and playback of simulation animations.

Mass and Inertia Tensor

ctuators library features a new Variable Mass & Inertia

k. This block accepts Simulink signals that vary the mass and/or

or of the Body block to which it is connected. The block only

e changes in the body’s mass properties and does not simulate the thrust forces or torques resulting from the accretion or

d Joint Initial Condition Actuation

near Force Element Blocks

Graphics Visualization Features

New Me

The Ut You ca

or/actuatorportonaJoint,Constraint,orDriverortooneBody

sens

dinate system on a Body.

coor

chanical Branching Bar Block

ilities library features the new Mecha n ical Branching Bar block.

n use this block to map multiple sensor and actuator lines to one

SimMechanics™ Release Notes

Compatibility Summar y for SimMechanics Software

This table summarizes new features and changes that might cause incompatibilities when you upgrade from an earlier version, or wh en you use files on multiple versions. Details are provided in the description of the new feature or change.

Version (Release)

Latest Version V3.2 (R2010a)

V3.1.1 (R2009b)

V3.1 (R2009a)

V3.0 (R2008b) See the Compatibility Considerations subheading

V2.7.1 (R2008a)

V2.7 (R2007b)

V2.6 (R2007a) See the Compatibility Considerations subheading

NewFeaturesandChangeswithVersion Compatibility Impact

for this new feature:

• “New SimMechanics Visualization and Animation”

on page 10

• “Upgraded Mechanical Import and Automatic Model

Generation” on page 13

See “Command Being Removed” on page 14.

for this new feature:

• “Block Library Links Must Be Resolved” on page 20

V2.5 (R2006b) See the Compatibility Considerations subheading for

each of these new features:

• “Computer-Aided Design Translator for

Pro/ENGINEER Available via the Web” on page 22

• “SolidWorks-to-SimMechanics Translator Now

AvailableOnlyviatheWeb”onpage23

Compatibility Summary for SimMechanics™ Software

Version (Release)

V2.4 (R2006a)

V2.3 (R14SP3)

V2.2.2 (R14SP2)

V2.2.1 (R14SP1)

NewFeaturesandChangeswithVersion Compatibility Impact

V2.2 (R14) See the Comp atibility Considerations subheading for

each of these new features or changes:

• “New Machine Environment Block” on page 34

• “Restricted Body Coordinate System References” on

page 36

• “Internal Virtual Reality Visualization No Longer

Supported” on page 37

V2.1.1 (R13SP1)

V2.1 (R13+)

V2.0.1 (R13+)

V2.0 (R13+)

Mathworks SIMMECHANICS RELEASE NOTES

Specifications and Main Features

Frequently Asked Questions

User Manual