MATLAB SIMULINK 3D ANIMATION 5 Bedienungsanleitung PDF herunterladen (Seite 29)

 Parts follow some kind of hierarchy defined in the CAD tool

VRML file respects the hierarchy using the VRML Transform - children

mechanism, has a nested structure. In this case, part coordinates are

usually defined in part's parent local coordinate system.

Example:

A robot can be exported with the following object hierarchy, in which each part

coordinates are defined in the parent local coordinate system:

rotating support - arm - wrist - hand – tool

When rotating support moves, all other parts move with it, etc.

The hierarchy of the VRML file must correspond to the coordinates used in the

dynamic model of the assembly:

 If all parts in Simulink / SimMechanics are defined in global coordinates,

we need a flat virtual scene structure

 If parts in Simulink / SimMechanics model follow hierarchical relation, we

need a nested virtual scene structure

To illustrate these two approaches, let’s imagine a rotation pendulum

according to the following picture. The gray rotating arm rotates about vertical

axis, the orange pendulum arm swings about the horizontal – z axis in rotating

arm local coordinates:

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MATLAB SIMULINK 3D ANIMATION 5 Bedienungsanleitung Seite 29