Documentation On Machine Learning Solutions in A Car

sm_four_bar
Design Description
SREE
sm_four_bar
sm_four_bar: Design Description

SREE
Publication date 29-Aug-2017 14:34:49

Copyright 2017
For Internal Distribution Only
2
Table of Contents
1. Model Version ................................................................................................................ 1
2. Root System ................................................................................................................... 2
2.1. Description .......................................................................................................... 2
2.2. Blocks ................................................................................................................. 2
2.2.1. Parameters ................................................................................................. 2
2.2.2. Block Execution Order .............................................................................. 10
3. Subsystems ................................................................................................................... 11
3.1. Connector Link ................................................................................................... 11
3.1.1. Blocks ..................................................................................................... 11
3.2. Crank Link ......................................................................................................... 18
3.2.1. Blocks ..................................................................................................... 18
3.3. Crank Side Base ................................................................................................. 25
3.3.1. Blocks ..................................................................................................... 25
3.4. Rocker Link ....................................................................................................... 30
3.4.1. Blocks ..................................................................................................... 30
3.5. Rocker Side Base ................................................................................................ 37
3.5.1. Blocks ..................................................................................................... 37
4. Requirements Traceability ............................................................................................... 42
5. System Model Configuration ........................................................................................... 43
6. Glossary ....................................................................................................................... 62
7. About this Report .......................................................................................................... 63
7.1. Report Overview ................................................................................................. 63
7.2. Root System Description ...................................................................................... 63
7.3. Subsystem Descriptions ........................................................................................ 64
7.4. State Chart Descriptions ....................................................................................... 64
iii
List of Figures
2.1. sm_four_bar ................................................................................................................. 2
3.1. sm_four_bar/Connector Link ......................................................................................... 11
3.2. sm_four_bar/Crank Link ............................................................................................... 18
3.3. sm_four_bar/Crank Side Base ........................................................................................ 25
3.4. sm_four_bar/Rocker Link ............................................................................................. 30
3.5. sm_four_bar/Rocker Side Base ...................................................................................... 37
iv
List of Tables
2.1. "Base-Crank Revolute" Parameters ................................................................................... 3
2.2. "Base-Rocker Revolute" Parameters ................................................................................. 4
2.3. "Connector-Rocker Revolute" Parameters .......................................................................... 5
2.4. "Crank Base Transform" Parameters ................................................................................. 6
2.5. "Crank-Connector Revolute" Parameters ........................................................................... 7
2.6. "Mechanism Configuration" Parameters ............................................................................ 8
2.7. "Rocker Base Transform" Parameters ............................................................................... 9
2.8. "World Frame" Parameters ............................................................................................. 9
3.1. "Left Transform" Parameters ......................................................................................... 11
3.2. "Left End Cap" Parameters ........................................................................................... 12
3.3. "Left Hole Frame" Parameters ....................................................................................... 14
3.4. "Main Link" Parameters ............................................................................................... 14
3.5. "Right Transform" Parameters ....................................................................................... 15
3.6. "Right End Cap" Parameters ......................................................................................... 16
3.7. "Right Hole Frame" Parameters ..................................................................................... 18
3.8. "Hole Frame" Parameters .............................................................................................. 18
3.9. "Left Transform" Parameters ......................................................................................... 18
3.10. "Left End Cap" Parameters .......................................................................................... 19
3.11. "Main Link" Parameters .............................................................................................. 21
3.12. "Peg Frame" Parameters ............................................................................................. 22
3.13. "Right Peg" Parameters ............................................................................................... 23
3.14. "Right Transform" Parameters ...................................................................................... 24
3.15. "Base" Parameters ...................................................................................................... 25
3.16. "Base Frame" Parameters ............................................................................................ 27
3.17. "Peg" Parameters ....................................................................................................... 27
3.19. "Rigid Transform" Parameters ...................................................................................... 29
3.20. "Hole Frame" Parameters ............................................................................................ 30
3.21. "Left Transform" Parameters ....................................................................................... 30
3.22. "Left End Cap" Parameters .......................................................................................... 31
3.23. "Main Link" Parameters .............................................................................................. 33
3.25. "Right Peg" Parameters ............................................................................................... 34
3.26. "Right Transform" Parameters ...................................................................................... 36
3.27. "Base" Parameters ...................................................................................................... 37
3.28. "Base Frame" Parameters ............................................................................................ 39
3.29. "Peg" Parameters ....................................................................................................... 39
3.31. "Rigid Transform" Parameters ...................................................................................... 41
5.1. sm_four_bar Configuration Set ...................................................................................... 43
5.2. sm_four_bar Configuration Set.Components(1) ................................................................. 43
5.10. sm_four_bar Configuration Set.Components(9) ............................................................... 53
5.11. sm_four_bar Configuration Set.Components(10) .............................................................. 54
5.12. sm_four_bar Configuration Set.Components(8).Components(1) .......................................... 55
v
sm_four_bar
5.13. sm_four_bar Configuration Set.Components(8).Components(2) .......................................... 56

5.14. sm_four_bar Configuration Set.Components(10).Components(1) ........................................ 58
5.15. sm_four_bar Configuration Set.Components(10).Components(2) ........................................ 59
5.16. sm_four_bar Configuration Set.Components(10).Components(2).Components(1) ................... 60
5.17. sm_four_bar Configuration Set.Components(10).Components(2).Components(2) ................... 60
vi
Chapter 1. Model Version
Version: 1.299
Last modified: Wed Jan 13 06:29:06 2016
Checksum: 1732073080 475517446 3998572514 1688363136
1
Chapter 2. Root System
Table of Contents
2.1. Description .................................................................................................................. 2
2.2. Blocks ......................................................................................................................... 2
2.2.1. Parameters ......................................................................................................... 2
2.2.2. Block Execution Order ...................................................................................... 10
Figure 2.1. sm_four_bar
B F Le ft Hole Fra me Right Hole Fra me B F
P e g Fra me
Cra nk-Conne ctor Conne ctor-Rocke r
P e g Fra me
Re volute Re volute
Conne ctor
Link
Cra nk As s e mbling Parts into a Fo ur Bar Me c hanis m Rocke r

Link
Link
Hole Fra me
This e xa mple s hows how to a s s e mble ins ta nce s of a modula rly de s igne d
link into a four ba r me cha nis m (cra nk-rocke r type ). The Cra nk a nd Rocke r
Hole Fra me
Links a re copie s of the s a m e link, with diffe re nt le ngth, de ns ity a nd color
pa ra me te rs . The links a re re us e d from the s m_compound_body e xa mple .
The C onne ctor link is a s lightly m odifie d ve rs ion of the s a m e link. The four
ba r s ta rts a t a n initia l s ta te a nd m ove s unde r the influe nce of gra vity.
F
Ba s e -Cra nk Me cha nis m Configura tion S olve r Config
F
q
Re volute
B
Ba s e -Rocke r
C f(x) = 0 Re volute
SPS
F B B F
Cra nk Ba s e Rocke r Ba s e Rocke r

Cra nk S ide Tra ns form Tra ns form Rocke r S ide
W
P os ition
Ba s e World Fra me Ba s e S cope
2.1. Description
Assembling Parts into a Four Bar Mechanism This example shows how to assemble instances of a mo-
dularly designed link into a four bar mechanism (crank-rocker type). The Crank and Rocker Links are
copies of the same link, with different length, density and color parameters. The links are reused from
the sm_compound_body example. The Connector link is a slightly modified version of the same link.
The four bar starts at an initial state and moves under the influence of gravity. Copyright 2008-2016 The
MathWorks, Inc.
2.2. Blocks
2.2.1. Parameters
2
Root System
2.2.1.1. "Base-Crank Revolute" (SimscapeMultibodyBlock)

Table 2.1. "Base-Crank Revolute" Parameters
Parameter Value
RevoluteJoint
off
off
off
off
off
off
off
off
off
off
off
off
off
off
off
off
FollowerOnBase
BaseFrame
0
rad
0
N*m/rad
0
N*m/(rad/s)
NoTorque
ComputedMotion
off
off
off
off
on
High
150
deg
3
Root System
Parameter Value
on
High
-360
deg/s
simmechanics.library.joints.revolute_joint
2.2.1.2. "Base-Rocker Revolute" (SimscapeMultibodyBlock)

Table 2.2. "Base-Rocker Revolute" Parameters
Parameter Value
RevoluteJoint
off
off
off
off
off
off
off
off
off
off
off
off
off
off
off
off
FollowerOnBase
BaseFrame
0
rad
0
N*m/rad
0
N*m/(rad/s)
NoTorque
ComputedMotion
4
Root System
Parameter Value
on
off
off
off
off
High
0
rad
off
High
0
rad/s
2.2.1.3. "Connector-Rocker Revolute" (SimscapeMultibodyBlock)

Table 2.3. "Connector-Rocker Revolute" Parameters
Parameter Value
RevoluteJoint
off
off
off
off
off
off
off
off
off
off
off
off
off
off
off
off
FollowerOnBase
BaseFrame
5
Root System
Parameter Value
0
rad
0
N*m/rad
0
N*m/(rad/s)
NoTorque
ComputedMotion
off
off
off
off
off
High
0
rad
off
High
0
rad/s
2.2.1.4. "Crank Base Transform" (SimscapeMultibodyBlock)

Table 2.4. "Crank Base Transform" Parameters
Parameter Value
RigidTransform
None
m
+Z
0
[0 0 0]
0
m
0
m
0
6
Root System
Parameter Value
deg
AlignedAxes
deg
+Z
0
[0 0 1]
+Z
-Y
+Y
+X
FollowerAxes
XYX
[0 0 0]
deg
[1 0 0; 0 1 0; 0 0 1]
simmechanics.library.frames_transforms.rigid_transform
2.2.1.5. "Crank-Connector Revolute" (SimscapeMultibodyBlock)

Table 2.5. "Crank-Connector Revolute" Parameters
Parameter Value
RevoluteJoint
off
off
off
off
off
off
off
off
off
off
off
off
off
off
off
7
Root System
Parameter Value
off
FollowerOnBase
BaseFrame
0
rad
0
N*m/rad
0
N*m/(rad/s)
NoTorque
ComputedMotion
off
off
off
off
on
Low
-45
deg
off
High
0
rad/s
2.2.1.6. "Mechanism Configuration" (SimscapeMultibodyBlock)

Table 2.6. "Mechanism Configuration" Parameters
Parameter Value
MechanismConfiguration
Constant
[0 0 -9.81]
m/s^2
0.001
simmechanics.library.utilities.mechanism_configuration
8
Root System
2.2.1.7. "Rocker Base Transform" (SimscapeMultibodyBlock)

Table 2.7. "Rocker Base Transform" Parameters
Parameter Value
RigidTransform
StandardAxis
cm
+X
20
[0 0 0]
0
m
0
m
0
deg
AlignedAxes
deg
+Z
0
[0 0 1]
+Z
-Y
+Y
+X
FollowerAxes
XYX
[0 0 0]
deg
[1 0 0; 0 1 0; 0 0 1]
2.2.1.8. "World Frame" (SimscapeMultibodyBlock)

Table 2.8. "World Frame" Parameters
Parameter Value
WorldFrame
simmechanics.library.frames_transforms.world_frame
9
Root System
2.2.2. Block Execution Order

1. STATE_1 (SimscapeExecutionBlock)
2. OUTPUT_1_0 (SimscapeExecutionBlock)
3. GAIN (Gain)
4. Rocker Position Scope [8] (Scope)
5. input (PMIOPort)
6. Left Transform [11] (SimscapeMultibodyBlock)
7. Left End Cap [12] (SimscapeMultibodyBlock)
8. Main Link [14] (SimscapeMultibodyBlock)
9. Right Transform [15] (SimscapeMultibodyBlock)
10. Right End Cap [16] (SimscapeMultibodyBlock)
11. Left Hole Frame [13] (PMIOPort)
12. Right Hole Frame [18] (PMIOPort)
16. Right Peg [23] (SimscapeMultibodyBlock)
18. Hole Frame [18] (PMIOPort)
19. Peg Frame [22] (PMIOPort)
20. Base [25] (SimscapeMultibodyBlock)
21. Peg [27] (SimscapeMultibodyBlock)
22. Rigid Transform [29] (SimscapeMultibodyBlock)
23. Base Frame [27] (PMIOPort)
28. Right Peg [34] (SimscapeMultibodyBlock)
30. Hole Frame [30] (PMIOPort)
32. Base [37] (SimscapeMultibodyBlock)
33. Peg [39] (SimscapeMultibodyBlock)
34. Rigid Transform [41] (SimscapeMultibodyBlock)
35. Base Frame [39] (PMIOPort)
37. SINK_1 (SimscapeExecutionBlock)
38. a (PMIOPort)
39. Base-Crank Revolute [2] (SimscapeMultibodyBlock)
40. Base-Rocker Revolute [4] (SimscapeMultibodyBlock)
41. Connector-Rocker Revolute [5] (SimscapeMultibodyBlock)
42. Crank Base Transform [6] (SimscapeMultibodyBlock)
43. Crank-Connector Revolute [7] (SimscapeMultibodyBlock)
44. Mechanism Configuration [8] (SimscapeMultibodyBlock)
45. Rocker Base Transform [8] (SimscapeMultibodyBlock)
46. World Frame [9] (SimscapeMultibodyBlock)
10
Chapter 3. Subsystems
Table of Contents
3.1. Connector Link ........................................................................................................... 11
3.1.1. Blocks ............................................................................................................. 11
3.2. Crank Link ................................................................................................................. 18
3.2.1. Blocks ............................................................................................................. 18
3.3. Crank Side Base ......................................................................................................... 25
3.3.1. Blocks ............................................................................................................. 25
3.4. Rocker Link ............................................................................................................... 30
3.4.1. Blocks ............................................................................................................. 30
3.5. Rocker Side Base ........................................................................................................ 37
3.5.1. Blocks ............................................................................................................. 37
3.1. Connector Link

Figure 3.1. sm_four_bar/Connector Link
1 F B B F 2
Le ft Hole Right Hole
Fra me Le ft Right Fra me
Tra ns form Tra ns form
R
R
Ma in
Le ft End Ca p Right End Ca p
Link
3.1.1. Blocks
3.1.1.1. Parameters
3.1.1.1.1. "Left Transform" (SimscapeMultibodyBlock)
Table 3.1. "Left Transform" Parameters

Parameter Value
RigidTransform
StandardAxis
cm
-X
L/2
[0 0 0]
0
m
0
m
0
11
Subsystems
Parameter Value
deg
None
deg
+Z
0
[0 0 1]
+X
+Y
+Y
+Z
FollowerAxes
XYX
[0 0 0]
deg
[1 0 0; 0 1 0; 0 0 1]
3.1.1.1.2. "Left End Cap" (SimscapeMultibodyBlock)
Table 3.2. "Left End Cap" Parameters

Parameter Value
Solid
CalculateFromGeometry
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
rho
kg/m^3
on
<Frames/>
FromGeometry
Sphere
12
Subsystems
Parameter Value
1
m
SimpleVisualProperties
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
GeneralExtrusion
[1 1]
m
[1 1 1]
m
1
m
1
m
1
m
[1 1 1]
m
left_end_x_section
cm
T
cm
1
1
m
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
deg
simmechanics.library.body_elements.solid
13
Subsystems
3.1.1.1.3. "Left Hole Frame" (PMIOPort)
Table 3.3. "Left Hole Frame" Parameters

Parameter Value
Port number 1
Port location on parent Left
subsystem
3.1.1.1.4. "Main Link" (SimscapeMultibodyBlock)
Table 3.4. "Main Link" Parameters

Parameter Value
Solid
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
rho
kg/m^3
on
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
GeneralExtrusion
14
Subsystems
Parameter Value
[1 1]
m
[1 1 1]
m
1
m
1
m
1
m
[1 1 1]
m
link_x_section
cm
T
cm
1
1
m
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
deg
3.1.1.1.5. "Right Transform" (SimscapeMultibodyBlock)
Table 3.5. "Right Transform" Parameters

Parameter Value
RigidTransform
StandardAxis
cm
+X
L/2
[0 0 0]
15
Subsystems
Parameter Value
0
m
0
m
0
deg
None
deg
+Z
0
[0 0 1]
+X
+Y
+Y
+Z
FollowerAxes
XYX
[0 0 0]
deg
[1 0 0; 0 1 0; 0 0 1]
3.1.1.1.6. "Right End Cap" (SimscapeMultibodyBlock)
Table 3.6. "Right End Cap" Parameters

Parameter Value
Solid
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
rho
16
Subsystems
Parameter Value
kg/m^3
on
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
GeneralExtrusion
[1 1]
m
[1 1 1]
m
1
m
1
m
1
m
[1 1 1]
m
right_end_x_section
cm
T
cm
1
1
m
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
17
Subsystems
Parameter Value
Full
180
deg
3.1.1.1.7. "Right Hole Frame" (PMIOPort)

Table 3.7. "Right Hole Frame" Parameters
Parameter Value
Port number 2
Port location on parent Right
subsystem
3.2. Crank Link

Figure 3.2. sm_four_bar/Crank Link
1 F B B F 2
Hole Fra me P e g Fra me
Le ft Right
R
R
Ma in Right
Le ft End Ca p
Link Peg
3.2.1. Blocks
3.2.1.1. Parameters
3.2.1.1.1. "Hole Frame" (PMIOPort)

Table 3.8. "Hole Frame" Parameters
Parameter Value
Port number 1
subsystem

Parameter Value
RigidTransform
StandardAxis
18
Subsystems
Parameter Value
cm
-X
L/2
[0 0 0]
0
m
0
m
0
deg
None
deg
+Z
0
[0 0 1]
+X
+Y
+Y
+Z
FollowerAxes
XYX
[0 0 0]
deg
[1 0 0; 0 1 0; 0 0 1]

Parameter Value
Solid
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
19
Subsystems
Parameter Value
[0 0 0]
kg*m^2
on
Ro
kg/m^3
on
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
GeneralExtrusion
[1 1]
m
[1 1 1]
m
1
m
1
m
1
m
[1 1 1]
m
left_end_x_section
cm
T
cm
1
1
m
20
Subsystems
Parameter Value
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
deg

Parameter Value
Solid
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
Ro
kg/m^3
on
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
21
Subsystems
Parameter Value
24.0
1
GeneralExtrusion
[1 1]
m
[1 1 1]
m
1
m
1
m
1
m
[1 1 1]
m
link_x_section
cm
T
cm
1
1
m
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
deg
3.2.1.1.5. "Peg Frame" (PMIOPort)
Table 3.12. "Peg Frame" Parameters

Parameter Value
Port number 2
subsystem
22
Subsystems
3.2.1.1.6. "Right Peg" (SimscapeMultibodyBlock)
Table 3.13. "Right Peg" Parameters

Parameter Value
Solid
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
Ro
kg/m^3
on
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
Cylinder
[1 1]
m
[1 1 1]
m
r
cm
2*T
23
Subsystems
Parameter Value
cm
1
m
[1 1 1]
m
[1 1; -1 1; -1 -1; 1 -1]
m
1
m
1
1
m
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
deg

Parameter Value
RigidTransform
Cartesian
cm
+Z
0
[L/2 0 3*T/2]
0
m
0
m
0
deg
None
24
Subsystems
Parameter Value
deg
+Z
0
[0 0 1]
+X
+Y
+Y
+Z
FollowerAxes
XYX
[0 0 0]
deg
[1 0 0; 0 1 0; 0 0 1]
3.3. Crank Side Base

Figure 3.3. sm_four_bar/Crank Side Base
1 B F 2
Ba s e Fra me P e g Fra me
Rigid Tra ns form
R
R
Peg
Ba s e
3.3.1. Blocks
3.3.1.1. Parameters
3.3.1.1.1. "Base" (SimscapeMultibodyBlock)
Table 3.15. "Base" Parameters

Parameter Value
Solid
1
kg
[0 0 0]
25
Subsystems
Parameter Value
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
1
kg/(m^3)
on
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
RegularExtrusion
[1 1]
m
[1 1 1]
m
1
m
1
m
1
m
[1 1 1]
m
[1 1; -1 1; -1 -1; 1 -1]
m
T
cm
26
Subsystems
Parameter Value
6
R
cm
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
deg
3.3.1.1.2. "Base Frame" (PMIOPort)
Table 3.16. "Base Frame" Parameters

Parameter Value
Port number 1
subsystem
3.3.1.1.3. "Peg" (SimscapeMultibodyBlock)
Table 3.17. "Peg" Parameters

Parameter Value
Solid
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
1
kg/(m^3)
on
27
Subsystems
Parameter Value
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
Cylinder
[1 1]
m
[1 1 1]
m
rp
cm
2*T
cm
1
m
[1 1 1]
m
[1 1; -1 1; -1 -1; 1 -1]
m
1
m
1
1
m
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
28
Subsystems
Parameter Value
deg

Parameter Value
Port number 2
subsystem
3.3.1.1.5. "Rigid Transform" (SimscapeMultibodyBlock)
Table 3.19. "Rigid Transform" Parameters

Parameter Value
RigidTransform
StandardAxis
cm
+Z
3*T/2
[0 0 0]
0
m
0
m
0
deg
None
deg
+Z
0
[0 0 1]
+X
+Y
+Y
+Z
FollowerAxes
XYX
29
Subsystems
Parameter Value
[0 0 0]
deg
[1 0 0; 0 1 0; 0 0 1]
3.4. Rocker Link

Figure 3.4. sm_four_bar/Rocker Link
1 F B B F 2
Hole Fra me P e g Fra me
Le ft Right
R
R
Ma in Right
Le ft End Ca p
Link Peg
3.4.1. Blocks
3.4.1.1. Parameters
3.4.1.1.1. "Hole Frame" (PMIOPort)

Table 3.20. "Hole Frame" Parameters
Parameter Value
Port number 1
subsystem

Parameter Value
RigidTransform
StandardAxis
cm
-X
L/2
[0 0 0]
0
m
0
m
30
Subsystems
Parameter Value
0
deg
None
deg
+Z
0
[0 0 1]
+X
+Y
+Y
+Z
FollowerAxes
XYX
[0 0 0]
deg
[1 0 0; 0 1 0; 0 0 1]

Parameter Value
Solid
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
Ro
kg/m^3
on
<Frames/>
FromGeometry
31
Subsystems
Parameter Value
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
GeneralExtrusion
[1 1]
m
[1 1 1]
m
1
m
1
m
1
m
[1 1 1]
m
left_end_x_section
cm
T
cm
1
1
m
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
deg
32
Subsystems

Parameter Value
Solid
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
Ro
kg/m^3
on
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
GeneralExtrusion
[1 1]
m
[1 1 1]
m
1
m
1
33
Subsystems
Parameter Value
m
1
m
[1 1 1]
m
link_x_section
cm
T
cm
1
1
m
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
deg

Parameter Value
Port number 2
subsystem
3.4.1.1.6. "Right Peg" (SimscapeMultibodyBlock)
Table 3.25. "Right Peg" Parameters

Parameter Value
Solid
1
kg
[0 0 0]
34
Subsystems
Parameter Value
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
Ro
kg/m^3
on
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
Cylinder
[1 1]
m
[1 1 1]
m
r
cm
2*T
cm
1
m
[1 1 1]
m
[1 1; -1 1; -1 -1; 1 -1]
m
1
m
35
Subsystems
Parameter Value
1
1
m
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
deg

Parameter Value
RigidTransform
Cartesian
cm
+Z
0
[L/2 0 3*T/2]
0
m
0
m
0
deg
None
deg
+Z
0
[0 0 1]
+X
+Y
+Y
+Z
FollowerAxes
36
Subsystems
Parameter Value
XYX
[0 0 0]
deg
[1 0 0; 0 1 0; 0 0 1]
3.5. Rocker Side Base

Figure 3.5. sm_four_bar/Rocker Side Base
1 B F 2
Ba s e Fra me P e g Fra me
Rigid Tra ns form
R
R
Peg
Ba s e
3.5.1. Blocks
3.5.1.1. Parameters
3.5.1.1.1. "Base" (SimscapeMultibodyBlock)
Table 3.27. "Base" Parameters

Parameter Value
Solid
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
1
kg/(m^3)
on
37
Subsystems
Parameter Value
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
RegularExtrusion
[1 1]
m
[1 1 1]
m
1
m
1
m
1
m
[1 1 1]
m
[1 1; -1 1; -1 -1; 1 -1]
m
T
cm
6
R
cm
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
38
Subsystems
Parameter Value
deg
3.5.1.1.2. "Base Frame" (PMIOPort)
Table 3.28. "Base Frame" Parameters

Parameter Value
Port number 1
subsystem
3.5.1.1.3. "Peg" (SimscapeMultibodyBlock)
Table 3.29. "Peg" Parameters

Parameter Value
Solid
1
kg
[0 0 0]
m
[1 1 1]
kg*m^2
[0 0 0]
kg*m^2
on
1
kg/(m^3)
on
<Frames/>
FromGeometry
Sphere
1
m
clr
[0.2 0.2 0.2]
39
Subsystems
Parameter Value
[0.5 0.5 0.5]
[0.1 0.1 0.1]
24.0
1
Cylinder
[1 1]
m
[1 1 1]
m
rp
cm
2*T
cm
1
m
[1 1 1]
m
[1 1; -1 1; -1 -1; 1 -1]
m
1
m
1
1
m
STEP
m
[1 1; 1 -1; 2 -1; 2 1]
m
Full
180
deg

Parameter Value
Port number 2
40
Subsystems
Parameter Value
subsystem
3.5.1.1.5. "Rigid Transform" (SimscapeMultibodyBlock)
Table 3.31. "Rigid Transform" Parameters

Parameter Value
RigidTransform
StandardAxis
cm
+Z
3*T/2
[0 0 0]
0
m
0
m
0
deg
None
deg
+Z
0
[0 0 1]
+X
+Y
+Y
+Z
FollowerAxes
XYX
[0 0 0]
deg
[1 0 0; 0 1 0; 0 0 1]
41
Chapter 4. Requirements Traceability
sm_four_bar does not contain requirements traceability links.
42
Chapter 5. System Model Configuration
Source: Model
Source Name: sm_four_bar
Table 5.1. sm_four_bar Configuration Set

Property Value
Description
Components [sm_four_bar Configuration Set.Components(1) [-
43], sm_four_bar Configuration Set.Compon-
ents(2) [44], sm_four_bar Configuration Set.-
Components(3) [45], sm_four_bar Configurat-
ion Set.Components(4) [46], sm_four_bar Co-
nfiguration Set.Components(5) [49], sm_fou-
r_bar Configuration Set.Components(6) [50],
sm_four_bar Configuration Set.Components(7) [-
50], sm_four_bar Configuration Set.Compone-
nts(8) [51], sm_four_bar Configuration Set.C-
omponents(9) [53], sm_four_bar Configurati-
on Set.Components(10) [54]]
Name Configuration
SimulationMode rapid-accelerator
ConfigType Model
Table 5.2. sm_four_bar Configuration Set.Components [43](1)

Property Value
Name Solver
Description
Components
StartTime 0.0
StopTime 10
AbsTol 1e-6
FixedStep auto
InitialStep auto
MaxNumMinSteps -1
MaxOrder 5
ZcThreshold auto
ConsecutiveZCsStepRelTol 10*128*eps
MaxConsecutiveZCs 1000
ExtrapolationOrder 4
NumberNewtonIterations 1
MaxStep 0.1
43
System Model Configuration
MinStep auto
MaxConsecutiveMinStep 1
RelTol 1e-6
SolverMode Auto
EnableConcurrentExecution off
ConcurrentTasks off
Solver ode45
SolverName ode45
SolverType Variable-step
SolverJacobianMethodControl auto
ShapePreserveControl DisableAll
ZeroCrossControl UseLocalSettings
ZeroCrossAlgorithm Nonadaptive
SolverResetMethod Fast
PositivePriorityOrder off
AutoInsertRateTranBlk off
SampleTimeConstraint Unconstrained
InsertRTBMode Whenever possible
SampleTimeProperty

Property Value
Name Data Import/Export
Description
Components
Decimation 1
ExternalInput [t, u]
FinalStateName xFinal
InitialState xInitial
LimitDataPoints on
MaxDataPoints 1000
LoadExternalInput off
LoadInitialState off
SaveFinalState off
SaveCompleteFinalSimState off
SaveFormat Array
SaveOutput on
SaveState off
SignalLogging on
44
DSMLogging on
InspectSignalLogs off
VisualizeSimOutput on
StreamToWorkspace off
StreamVariableName streamout
SaveTime on
ReturnWorkspaceOutputs off
StateSaveName xout
TimeSaveName tout
OutputSaveName yout
SignalLoggingName logsout
DSMLoggingName dsmout
OutputOption RefineOutputTimes
OutputTimes []
ReturnWorkspaceOutputsName out
Refine 1
LoggingToFile off
LoggingFileName out.mat
LoggingIntervals [-inf, inf]

Property Value
Name Optimization
Description
Components
BlockReduction on
BooleanDataType on
ConditionallyExecuteInputs on
DefaultParameterBehavior Tunable
InlineParams off
UseDivisionForNetSlopeComputation off
UseFloatMulNetSlope off
DefaultUnderspecifiedDataType double
UseSpecifiedMinMax off
InlineInvariantSignals off
OptimizeBlockIOStorage on
BufferReuse on
GlobalBufferReuse on
GlobalVariableUsage None
45
StrengthReduction off
AdvancedOptControl
EnforceIntegerDowncast on
ExpressionFolding on
BooleansAsBitfields off
BitfieldContainerType uint_T
EnableMemcpy on
MemcpyThreshold 64
PassReuseOutputArgsAs Structure reference
PassReuseOutputArgsThreshold 12
FoldNonRolledExpr on
LocalBlockOutputs on
RollThreshold 5
StateBitsets off
DataBitsets off
ActiveStateOutputEnumStorageType Native Integer
UseTempVars off
ZeroExternalMemoryAtStartup on
ZeroInternalMemoryAtStartup on
InitFltsAndDblsToZero off
NoFixptDivByZeroProtection off
EfficientFloat2IntCast off
EfficientMapNaN2IntZero on
OptimizeModelRefInitCode off
LifeSpan inf
EvaledLifeSpan Inf
MaxStackSize Inherit from target
BufferReusableBoundary on
SimCompilerOptimization off
AccelVerboseBuild off

Property Value
Name Diagnostics
Description
Components
RTPrefix error
ConsistencyChecking none
ArrayBoundsChecking none
46
SignalInfNanChecking none
SignalRangeChecking none
ReadBeforeWriteMsg UseLocalSettings
WriteAfterWriteMsg UseLocalSettings
WriteAfterReadMsg UseLocalSettings
AlgebraicLoopMsg warning
ArtificialAlgebraicLoopMsg warning
SaveWithDisabledLinksMsg warning
SaveWithParameterizedLinksMsg warning
CheckSSInitialOutputMsg on
UnderspecifiedInitializationDetection Classic
MergeDetectMultiDrivingBlocksExec none
CheckExecutionContextRuntimeOutputMsg off
SignalResolutionControl UseLocalSettings
BlockPriorityViolationMsg warning
MinStepSizeMsg warning
TimeAdjustmentMsg none
MaxConsecutiveZCsMsg error
MaskedZcDiagnostic warning
IgnoredZcDiagnostic warning
SolverPrmCheckMsg none
InheritedTsInSrcMsg warning
MultiTaskDSMMsg error
MultiTaskCondExecSysMsg error
MultiTaskRateTransMsg error
SingleTaskRateTransMsg none
TasksWithSamePriorityMsg warning
SigSpecEnsureSampleTimeMsg warning
CheckMatrixSingularityMsg none
IntegerOverflowMsg warning
Int32ToFloatConvMsg warning
ParameterDowncastMsg error
ParameterOverflowMsg error
ParameterUnderflowMsg none
ParameterPrecisionLossMsg warning
ParameterTunabilityLossMsg warning
FixptConstUnderflowMsg none
FixptConstOverflowMsg none
FixptConstPrecisionLossMsg none
47
UnderSpecifiedDataTypeMsg none
UnnecessaryDatatypeConvMsg none
VectorMatrixConversionMsg none
InvalidFcnCallConnMsg error
FcnCallInpInsideContextMsg EnableAllAsWarning
SignalLabelMismatchMsg none
UnconnectedInputMsg warning
UnconnectedOutputMsg warning
UnconnectedLineMsg warning
SFcnCompatibilityMsg none
FrameProcessingCompatibilityMsg error
UniqueDataStoreMsg none
BusObjectLabelMismatch warning
RootOutportRequireBusObject warning
AssertControl UseLocalSettings
Echo
EnableOverflowDetection off
AllowSymbolicDim on
ModelReferenceIOMsg none
ModelReferenceVersionMismatchMessage none
ModelReferenceIOMismatchMessage none
ModelReferenceCSMismatchMessage none
ModelReferenceSimTargetVerbose off
UnknownTsInhSupMsg warning
ModelReferenceDataLoggingMessage warning
ModelReferenceSymbolNameMessage warning
ModelReferenceExtraNoncontSigs error
StateNameClashWarn warning
SimStateInterfaceChecksumMismatchMsg warning
SimStateOlderReleaseMsg error
InitInArrayFormatMsg warning
StrictBusMsg ErrorLevel1
BusNameAdapt WarnAndRepair
NonBusSignalsTreatedAsBus none
SFUnusedDataAndEventsDiag warning
SFUnexpectedBacktrackingDiag warning
SFInvalidInputDataAccessInChartInitDiag warning
SFNoUnconditionalDefaultTransitionDiag warning
SFTransitionOutsideNaturalParentDiag warning
48
SFUnconditionalTransitionShadowingDiag warning
SFUndirectedBroadcastEventsDiag warning
SFTransitionActionBeforeConditionDiag warning
SFOutputUsedAsStateInMooreChartDiag error
IntegerSaturationMsg warning
AllowedUnitSystems all
UnitsInconsistencyMsg warning
AllowAutomaticUnitConversions on

Property Value
Name Hardware Implementation
Description
Components
ProdBitPerChar 8
ProdBitPerShort 16
ProdBitPerInt 32
ProdBitPerLong 32
ProdBitPerLongLong 64
ProdBitPerFloat 32
ProdBitPerDouble 64
ProdBitPerPointer 32
ProdLargestAtomicInteger Char
ProdLargestAtomicFloat None
ProdIntDivRoundTo Undefined
ProdEndianess Unspecified
ProdWordSize 32
ProdShiftRightIntArith on
ProdLongLongMode off
ProdHWDeviceType 32-bit Generic
TargetBitPerChar 8
TargetBitPerShort 16
TargetBitPerInt 32
TargetBitPerLong 32
TargetBitPerLongLong 64
TargetBitPerFloat 32
TargetBitPerDouble 64
TargetBitPerPointer 64
TargetLargestAtomicInteger Char
49
TargetLargestAtomicFloat None
TargetShiftRightIntArith on
TargetLongLongMode on
TargetIntDivRoundTo Zero
TargetEndianess LittleEndian
TargetWordSize 64
TargetTypeEmulationWarnSuppressLevel 0
TargetPreprocMaxBitsSint 32
TargetPreprocMaxBitsUint 32
TargetHWDeviceType MATLAB Host
TargetUnknown off
ProdEqTarget off
UseEmbeddedCoderFeatures on
UseSimulinkCoderFeatures on

Property Value
Name Model Referencing
Description
Components
UpdateModelReferenceTargets IfOutOfDateOrStructuralChange
SkipRefExpFcnMdlSchedulingOrderCheck off
EnableRefExpFcnMdlSchedulingChecks on
CheckModelReferenceTargetMessage error
EnableParallelModelReferenceBuilds off
ParallelModelReferenceErrorOnInvalidPool on
ParallelModelReferenceMATLABWorkerInit None
ModelReferenceNumInstancesAllowed Multi
PropagateVarSize Infer from blocks in model
ModelDependencies
ModelReferencePassRootInputsByReference on
ModelReferenceMinAlgLoopOccurrences off
PropagateSignalLabelsOutOfModel off
SupportModelReferenceSimTargetCustomCode off

Property Value
Name Simulation Target
Description
50
Components
SimCustomSourceCode
SimCustomHeaderCode
SimCustomInitializer
SimCustomTerminator
SimReservedNameArray
SimUserSources
SimUserIncludeDirs
SimUserLibraries
SimUserDefines
SFSimEnableDebug off
SFSimOverflowDetection on
SFSimEcho on
SimBlas on
SimCtrlC on
SimExtrinsic on
SimIntegrity on
SimUseLocalCustomCode off
SimParseCustomCode on
SimBuildMode sf_incremental_build
SimDataInitializer
SimGenImportedTypeDefs off

Property Value
Name Code Generation
SystemTargetFile rsim.tlc
HardwareBoard None
TLCOptions
CodeGenDirectory
GenCodeOnly off
MakeCommand make_rtw
GenerateMakefile on
PackageGeneratedCodeAndArtifacts off
PackageName
TemplateMakefile rsim_default_tmf
PostCodeGenCommand
Description Rapid Simulation Target
GenerateReport off
51
SaveLog off
RTWVerbose on
RetainRTWFile off
ProfileTLC off
TLCDebug off
TLCCoverage off
TLCAssert off
ProcessScriptMode Default
ConfigurationMode Optimized
ProcessScript rsim_make_rtw_hook
ConfigurationScript
ConfigAtBuild off
RTWUseLocalCustomCode off
RTWUseSimCustomCode off
CustomSourceCode
CustomHeaderCode
CustomInclude
CustomSource
CustomLibrary
CustomDefine
CustomLAPACKCallback
CustomInitializer
CustomTerminator
Toolchain Automatically locate an installed toolchain
BuildConfiguration Faster Builds
CustomToolchainOptions
IncludeHyperlinkInReport off
LaunchReport off
PortableWordSizes off
GenerateErtSFunction off
CreateSILPILBlock None
CodeExecutionProfiling off
CodeExecutionProfileVariable executionProfile
CodeProfilingSaveOptions SummaryOnly
CodeProfilingInstrumentation off
SILDebugging off
TargetLang C
IncludeERTFirstTime off
GenerateTraceInfo off
52
GenerateTraceReport off
GenerateTraceReportSl off
GenerateTraceReportSf off
GenerateTraceReportEml off
GenerateCodeInfo off
GenerateWebview off
GenerateCodeMetricsReport off
GenerateCodeReplacementReport off
RTWCompilerOptimization off
ObjectivePriorities
RTWCustomCompilerOptimizations
CheckMdlBeforeBuild Off
CustomRebuildMode OnUpdate
DataInitializer
Components [sm_four_bar Configuration Set.Components(8).-
ion Set.Components(8).Components(2) [56]]

Property Value
Description Simulink Coverage Configuration Component
Components
Name Simulink Coverage
RecordCoverage off
CovPath /
CovSaveName covdata
CovCompData
CovMetricSettings dw
CovFilter
CovHTMLOptions
CovNameIncrementing off
CovHtmlReporting on
CovForceBlockReductionOff on
CovEnableCumulative on
CovSaveCumulativeToWorkspaceVar on
CovSaveSingleToWorkspaceVar on
CovCumulativeVarName covCumulativeData
CovCumulativeReport off
CovSaveOutputData on
53
CovOutputDir slcov_output/$ModelName$
CovDataFileName $ModelName$_cvdata
CovReportOnPause on
CovModelRefEnable Off
CovModelRefExcluded
CovExternalEMLEnable off
CovSFcnEnable on
CovBoundaryAbsTol 1.0000e-05
CovBoundaryRelTol 0.0100
CovUseTimeInterval off
CovStartTime 0
CovStopTime 0

Property Value
Description
ion Set.Components(10).Components(2) [59]]
Name Simscape
EditingMode Full
ExplicitSolverDiagnosticOptions warning
GlobalZcOffDiagnosticOptions warning
SimscapeLogType none
SimscapeLogSimulationStatistics off
SimscapeLogOpenViewer off
SimscapeLogName simlog
SimscapeLogDecimation 1
SimscapeLogLimitData on
SimscapeLogDataHistory 5000
SelectedTab
Version 1.0
ComponentsAttached true
Listener [sm_four_bar Configuration Set.Components(10)-
.Listener(1) [59], sm_four_bar Configuration
Set.Components(10).Listener(2) [59], sm_fo-
ur_bar Configuration Set.Components(10).Listen-
er(3) [59], sm_four_bar Configuration Set.C-
omponents(10).Listener(4) [59], sm_four_bar
Configuration Set.Components(10).Listener(5) [-
59], sm_four_bar Configuration Set.Compone-
nts(10).Listener(6) [59], sm_four_bar Config-
54
uration Set.Components(10).Listener(7) [59],

sm_four_bar Configuration Set.Components(10)-
.Listener(8) [59], sm_four_bar Configuration
Set.Components(10).Listener(9) [60], sm_fou-
r_bar Configuration Set.Components(10).Listene-
r(10) [60], sm_four_bar Configuration Set.Co-
mponents(10).Listener(11) [60]]
someListenersNotInstalled false
instanceId
Table 5.12. sm_four_bar Configuration

Set.Components(8).Components [53](1)
Property Value
Name Code Appearance
Description
Components
ForceParamTrailComments off
GenerateComments on
CommentStyle Auto
IgnoreCustomStorageClasses on
IgnoreTestpoints off
IncHierarchyInIds off
MaxIdLength 31
PreserveName off
PreserveNameWithParent off
ShowEliminatedStatement off
OperatorAnnotations off
IncAutoGenComments off
SimulinkDataObjDesc off
SFDataObjDesc off
MATLABFcnDesc off
IncDataTypeInIds off
PrefixModelToSubsysFcnNames on
MangleLength 1
CustomSymbolStr $R$N$M
CustomSymbolStrGlobalVar $R$N$M
CustomSymbolStrType $N$R$M_T
CustomSymbolStrField $N$M
CustomSymbolStrFcn $R$N$M$F
CustomSymbolStrFcnArg rt$I$N$M
CustomSymbolStrBlkIO rtb_$N$M
55
CustomSymbolStrTmpVar $N$M
CustomSymbolStrMacro $R$N$M
CustomSymbolStrUtil $N$C
CustomCommentsFcn
DefineNamingRule None
DefineNamingFcn
ParamNamingRule None
ParamNamingFcn
SignalNamingRule None
SignalNamingFcn
InsertBlockDesc off
InsertPolySpaceComments off
SimulinkBlockComments on
MATLABSourceComments off
EnableCustomComments off
InternalIdentifier Shortened
InlinedPrmAccess Literals
ReqsInCode off
UseSimReservedNames off
ReservedNameArray

Property Value
Name Target
Description
Components
IsERTTarget off
TargetFcnLib ansi_tfl_table_tmw.mat
TargetLibSuffix
TargetPreCompLibLocation
GenFloatMathFcnCalls NOT IN USE
TargetLangStandard C89/C90 (ANSI)
TargetFunctionLibrary NOT IN USE
CodeReplacementLibrary None
UtilityFuncGeneration Auto
ERTMultiwordTypeDef System defined
ERTMultiwordLength 256
MultiwordLength 2048
56
GenerateFullHeader on
InferredTypesCompatibility off
GenerateSampleERTMain off
GenerateTestInterfaces off
ModelReferenceCompliant on
ParMdlRefBuildCompliant on
CompOptLevelCompliant on
ConcurrentExecutionCompliant on
IncludeMdlTerminateFcn on
CombineOutputUpdateFcns off
CombineSignalStateStructs off
SuppressErrorStatus off
ERTFirstTimeCompliant off
IncludeFileDelimiter Auto
ERTCustomFileBanners off
SupportAbsoluteTime on
LogVarNameModifier rt_
MatFileLogging on
MultiInstanceERTCode off
CodeInterfacePackaging Nonreusable function
SupportNonFinite on
SupportComplex on
PurelyIntegerCode off
SupportContinuousTime on
SupportNonInlinedSFcns on
SupportVariableSizeSignals off
ParenthesesLevel Nominal
CastingMode Nominal
GenerateClassInterface off
ModelStepFunctionPrototypeControlCompliant off
CPPClassGenCompliant off
GRTInterface on
GenerateAllocFcn off
UseToolchainInfoCompliant off
GenerateSharedConstants on
RSIM_SOLVER_SELECTION Auto
PCMatlabRoot C:\\Program Files\\MATLAB\\R2016a
ExtMode off
ExtModeTransport 0
57
ExtModeStaticAlloc off
ExtModeStaticAllocSize 1000000
ExtModeTesting off
ExtModeMexFile ext_comm
ExtModeMexArgs
ExtModeIntrfLevel Level1
RSIM_PARAMETER_LOADING on
RSIM_STORAGE_CLASS_AUTO on
RTWCAPISignals off
RTWCAPIParams off
RTWCAPIStates off

Property Value
Description
Components
WarnOnRedundantConstraints on
WarnOnSingularInitialAssembly off
ShowCutJoints off
VisOnUpdateDiagram off
VisDuringSimulation off
EnableVisSimulationTime on
VisSampleTime 0
DisableBodyVisControl off
ShowCG on
ShowCS on
ShowOnlyPortCS off
HighlightModel on
FramesToBeSkipped 0
AnimationDelay 3
RecordAVI off
CompressAVI on
AviFileName
AutoFitVis off
EnableSelection on
LastVizWinPosition [-1 -1 -1 -1]
CamPosition [0 0 0]
CamTarget [0 0 -1]
58
CamUpVector [0 1 0]
CamHeight -1
CamViewAngle 0
VisBackgroundColor [0.9 0.9 0.95]
DefaultBodyColor [1 0 0]
MDLBodyVisualizationType Convex hull from body CS locations
OVRRIDBodyVisualizationType NONE
Name SimscapeMultibody1G
VisConfigFile

Property Value
Description SimMechanics 2G
Components(2).Components(1) [60], sm_four-
_bar Configuration Set.Components(10).Compon-
ents(2).Components(2) [60]]
Name SimscapeMultibody
sm_four_bar Configuration Set.Components(10).Listener(1) (handle.listener, )
Note: this object has no unfiltered properties.
59

Set.Components(10).Components(2).Components [59](1)
Property Value
Description Diagnostics
Components
Name DiagnosticsConfigSet
SimMechanicsInvalidVisualProperty warning
SimMechanicsCrossSectionNullEdge warning
SimMechanicsUnconnectedFramePorts warning
SimMechanicsUnconnectedGeometryPorts warning
SimMechanicsRedundantBlock warning
SimMechanicsConflictingReferenceFrames warning
SimMechanicsRigidlyBoundBlock error
SimMechanicsUnsatisfiedHighPriorityTargets warning
SimMechanicsJointTargetOverSpecification error

Set.Components(10).Components(2).Components [59](2)
Property Value
Description Explorer
Components
Name ExplorerConfigSet
SimMechanicsOpenEditorOnUpdate on
InternalSimMechanicsExplorerSettings <ExplorerConfiguration><canonicalview>defau-
lt</canonicalview><TilePanel><TileInfo><Tiles
Columns="1" Count="1" Rows="1"><Column Le-
ft="2" Weight="1"/><Column Left="489"/><Row
Top="2" Weight="1"/><Row Top="434"/><Tile
Height="1" Width="1" X="0" Y="0"/></Tiles>-
</TileInfo><SceneInfo><SceneViewer><BGCo-
lor><R>0.60000002384185791</R><G>0.6000-
60
0002384185791</G><B>0.60000002384185791-
</B></BGColor><Camera><Position><X>0.100-
00000149011612</X><Y>-0.452823931565837-
</Y><Z>0.035844303667545319</Z></Position-
><Center><X>0.10000000149011612</X><Y>-
-0.008750000037252903</Y><Z>0.0358443036-
67545319</Z></Center><Up><X>0</X><Y>-0-
</Y><Z>1</Z></Up><Left>-0.15955961197614-
671</Left><Right>0.15955961197614671</Righ-
t><Bottom>-0.10063651353120805</Bottom><T-
op>0.10063651353120805</Top></Camera></Sc-
eneViewer></SceneInfo></TilePanel></Explorer-
Configuration>
61
Chapter 6. Glossary
Atomic Subsystem. A subsystem treated as a unit by an implementation of the design documented in
this report. The implementation computes the outputs of all the blocks in the atomic subsystem before
computing the next block in the parent system's block execution order (sorted list).
Block Diagram. A Simulink block diagram represents a set of simultaneous equations that relate a
system or subsystem's inputs to its outputs as a function of time. Each block in the diagram represents an
equation of the form y = f(t, x, u) where t is the current time, u is a block input, y is a block output, and
x is a system state (see the Simulink documentation for information on the functions represented by the
various types of blocks that make up the diagram). Lines connecting the blocks represent dependencies
among the blocks, i.e., inputs whose current values are the outputs of other blocks. An implementation
of a design described in this document computes a root or atomic system's outputs at each time step by
computing the outputs of the blocks in an order determined by block input/output dependencies.
Block Parameter. A variable that determines the output of a block along with its inputs, for example,
the gain parameter of a Gain block.
Block Execution Order. The order in which Simulink evaluates blocks during simulation of a model.
The block execution order determined by Simulink ensures that a block executes only after all blocks on
whose outputs it depends are executed.
Checksum. A number that indicates whether different versions of a model or atomic subsystem differ
functionally or only cosmetically. Different checksums for different versions of the same model or subs-
ystem indicate that the versions differ functionally.
Design Variable. A symbolic (MATLAB) variable or expression used as the value of a block parameter.
Design variables allow the behavior of the model to be altered by altering the value of the design variable.
Signal. A block output, so-called because block outputs typically vary with time.
Virtual Subsystem. A subsystem that is purely graphical, i.e., is intended to reduce the visual comple-
xity of the block diagram of which it is a subsystem. An implementation of the design treats the blocks in
the subsystem as part of the first nonvirtual ancestor of the virtual subsystem (see Atomic Subsystem).
62
Chapter 7. About this Report
Table of Contents
7.1. Report Overview ......................................................................................................... 63
7.2. Root System Description .............................................................................................. 63
7.3. Subsystem Descriptions ................................................................................................ 64
7.4. State Chart Descriptions ............................................................................................... 64
7.1. Report Overview

This report describes the design of the sm_four_bar system. The report was generated automatically from
a Simulink model used to validate the design. It contains the following sections:
Model Version. Specifies information about the version of the model from which this design description
was generated. Includes the model checksum, a number that indicates whether different versions of the
model differ functionally or only cosmetically. Different checksums for different versions indicate that
the versions differ functionally.
Root System. Describes the design's root system.
Subsystems. Describes each of the design's subsystems.
Design Variables. Describes system design variables, i.e., MATLAB variables and expressions used
as block parameter values.
System Model Configuration. Lists the configuration parameters, e.g., start and stop time, of the model
used to simulate the system described by this report.
Requirements Traceability. Shows design requirements associated with elements of the design model.
This section appears only if the design model contains requirements links.
Glossary. Defines Simulink terms used in this report.
7.2. Root System Description

This section describes a design's root system. It contains the following sections:
Diagram. Simulink block diagram that represents the algorithm used to compute the root system's ou-
tputs.
Description. Description of the root system. This section appears only if the model's root system has
a Documentation property or a Doc block.
Interface. Name, data type, width, and other properties of the root system's input and output signals.
The number of the block port that outputs the signal appears in angle brackets appended to the signal name.
This section appears only if the root system has input or output ports.
Blocks. This section has two subsections:
Parameters. Describes key parameters of blocks in the root system. This section also includes gra-
phical and/or tabular representations of lookup table data used by lookup table blocks, i.e., blocks that
use lookup tables to compute their outputs.
63
About this Report
Block Execution Order. Order in which blocks must be executed at each time step in order to ensure
that each block's inputs are available when it executes.
State Charts. Describes state charts used in the root system. This section appears only if the root system
contains Stateflow blocks.
7.3. Subsystem Descriptions

This section describes a design's subsystems. Each subsystem description contains the following sections:
Checksum. This section appears only if the subsystem is an atomic subsystem. The checksum indicates
whether the version of the model subsystem used to generate this report differs functionally from other
versions of the model subsystem. If two model checksums differ, the corresponding versions of the model
differ functionally.
Diagram. Simulink block diagram that graphically represents the algorithm used to compute the sub-
system's outputs.
Description. Description of the subsystem. This section appears only if the subsystem has a Docume-
ntation property or contains a Doc block.
Interface. Name, data type, width, and other properties of the subsystem's input and output signals. The
number of the block port that outputs the signal appears in angle brackets appended to the signal name.
This section appears only if the subsystem is atomic and has input or output ports.
Blocks. Blocks that this subsystem contains. This section has two subsections:
Parameters. Key parameters of blocks in the subsystem. This section also includes graphical and/or
tabular representations of lookup table data used by lookup table blocks, blocks that use lookup tables
to compute their outputs.
Block Execution Order. Order in which the subsystem's blocks must be executed at each time step
in order to ensure that each block's inputs are available when the block executes .This section appears
only if the subsystem is atomic. Note: in Acrobat(PDF) reports, the number in square brackets next to
the block name is a hyperlink to the block parameter table. The number has no model significance.
State Charts. Describes state charts used in the subsystem. This section appears only if the root system
contains Stateflow blocks.
7.4. State Chart Descriptions

This section describes the state machines used by Stateflow blocks to compute their outputs, i.e., Stateflow
blocks. Each state machine description contains the following sections:
Chart. Diagram representing the state machine.
States. Describes the state machine's states. Each state description includes the state's diagram and di-
agrams and/or descriptions of graphical functions, Simulink functions, truth tables, and MATLAB funct-
ions parented by the state.
Transitions. Transitions between the state machine's states. Each transition description specifies the
values of key transition properties. Appears only if a transition has properties that do not appear on the
chart.
Junctions. Transition junctions. Each junction description specifies the values of key junction proper-
ties. Appears only if a junction has properties that do not appear on the chart.
64
About this Report
Events. Events that trigger state transitions. Each event description specifies the values of key event
properties.
Data. Data types and other properties of the Stateflow block's inputs, outputs, and other state machine
data.
Targets. Executable implementations of the state machine used to compute the outputs of the corresp-
onding Stateflow block.
MATLAB Supporting Functions. List of functions invoked by MATLAB functions defined in the
chart.
65

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sm_four_bar

sm_four_bar: Design Description

Publication date 29-Aug-2017 14:34:49

5.13. sm_four_bar Configuration Set.Components(8).Components(2) .......................................... 56

Last modified: Wed Jan 13 06:29:06 2016

Checksum: 1732073080 475517446 3998572514 1688363136

Figure 2.1. sm_four_bar

B F Le ft Hole Fra me Right Hole Fra me B F

Cra nk As s e mbling Parts into a Fo ur Bar Me c hanis m Rocke r

Ba s e -Cra nk Me cha nis m Configura tion S olve r Config

Cra nk Ba s e Rocke r Ba s e Rocke r

2.2.1.1. "Base-Crank Revolute" (SimscapeMultibodyBlock)

2.2.1.2. "Base-Rocker Revolute" (SimscapeMultibodyBlock)

2.2.1.3. "Connector-Rocker Revolute" (SimscapeMultibodyBlock)

2.2.1.4. "Crank Base Transform" (SimscapeMultibodyBlock)

2.2.1.5. "Crank-Connector Revolute" (SimscapeMultibodyBlock)

2.2.1.6. "Mechanism Configuration" (SimscapeMultibodyBlock)

2.2.1.7. "Rocker Base Transform" (SimscapeMultibodyBlock)

2.2.1.8. "World Frame" (SimscapeMultibodyBlock)

2.2.2. Block Execution Order

3.1. Connector Link

3.1.1.1.1. "Left Transform" (SimscapeMultibodyBlock)

Table 3.1. "Left Transform" Parameters

3.1.1.1.2. "Left End Cap" (SimscapeMultibodyBlock)

Table 3.2. "Left End Cap" Parameters

3.1.1.1.3. "Left Hole Frame" (PMIOPort)

Table 3.3. "Left Hole Frame" Parameters

3.1.1.1.4. "Main Link" (SimscapeMultibodyBlock)

Table 3.4. "Main Link" Parameters

3.1.1.1.5. "Right Transform" (SimscapeMultibodyBlock)

Table 3.5. "Right Transform" Parameters

3.1.1.1.6. "Right End Cap" (SimscapeMultibodyBlock)

Table 3.6. "Right End Cap" Parameters

3.1.1.1.7. "Right Hole Frame" (PMIOPort)

3.2. Crank Link

3.2.1.1.1. "Hole Frame" (PMIOPort)

3.2.1.1.2. "Left Transform" (SimscapeMultibodyBlock)

3.2.1.1.3. "Left End Cap" (SimscapeMultibodyBlock)

Table 3.10. "Left End Cap" Parameters

3.2.1.1.4. "Main Link" (SimscapeMultibodyBlock)

Table 3.11. "Main Link" Parameters

3.2.1.1.5. "Peg Frame" (PMIOPort)

Table 3.12. "Peg Frame" Parameters

3.2.1.1.6. "Right Peg" (SimscapeMultibodyBlock)

Table 3.13. "Right Peg" Parameters

3.2.1.1.7. "Right Transform" (SimscapeMultibodyBlock)

Table 3.14. "Right Transform" Parameters

3.3. Crank Side Base

3.3.1.1.1. "Base" (SimscapeMultibodyBlock)

Table 3.15. "Base" Parameters

3.3.1.1.2. "Base Frame" (PMIOPort)

Table 3.16. "Base Frame" Parameters

3.3.1.1.3. "Peg" (SimscapeMultibodyBlock)

Table 3.17. "Peg" Parameters

3.3.1.1.4. "Peg Frame" (PMIOPort)

Table 3.18. "Peg Frame" Parameters

3.3.1.1.5. "Rigid Transform" (SimscapeMultibodyBlock)

Table 3.19. "Rigid Transform" Parameters

3.4. Rocker Link

3.4.1.1.1. "Hole Frame" (PMIOPort)

3.4.1.1.2. "Left Transform" (SimscapeMultibodyBlock)

3.4.1.1.3. "Left End Cap" (SimscapeMultibodyBlock)

Table 3.22. "Left End Cap" Parameters