MATLAB SIMULINK 3D ANIMATION 5 Bedienungsanleitung PDF herunterladen (Seite 39)

In addition, SimMechanics offers a convenient way of importing CAD assembly

designs into SimMechanics machines – CAD Translator. When the CAD

assembly is in parallel exported from the CAD tool also to the VRML model, it is

just a matter of few steps to add virtual reality visualization to such machines.

Depending on the virtual scene hierarchy, there are two methods for

visualization of SimMechanics machines possible:

 When the virtual scene has a flat structure of independent objects,

positions and rotations of machine parts – bodies can be obtained using

Body Sensor blocks connected to appropriate coordinate systems

attached to the bodies, with positions and rotations defined using the

absolute – world coordinates. In most cases it is suitable to connect the

sensor to a body coordinate system with origin in [0 0 0] and initial

rotation matrix defined as identity matrix [1 0 0; 0 1 0, 0 0 1] in the world

coordinates.

 When the virtual scene has a hierarchical structure of nested objects, the

body positions and rotations can be obtained using Body Sensor blocks

with output set to local body coordinates. In some special cases – for

instance when two bodies are connected through a revolute joint, it is

possible to get the angle between the objects using a Joint Sensor block.

5.3.5. Linking the Virtual Scene to a MATLAB Model

For interaction with virtual scenes Simulink 3D Animation offers also set of

MATLAB functions and constructs known as the toolbox MATLAB Interface.

There might be circumstances when using this MATLAB functionality is suitable

in connection with CAD-based designs, for instance:

 Using customised GUIs to visualize static objects or their relations in

virtual environment. Example – interactive machine assembly

instructions.

 Visualization of a 3D information based on a general independent

quantity (doesn’t have to be time).

 MATLAB interface functions used in Simulink model callbacks.

 Visualization of systems whose dynamic models are available as MATLAB

code.

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MATLAB SIMULINK 3D ANIMATION 5 Bedienungsanleitung Seite 39