Multibody dynamic simulation with Simscape: methods and examples

Simscape extends Simulink with libraries for modelling and simulating multidomain physical systems. It is built on top of Matlab and Simulink, contains models of foundation elements for various physical domains. also, contains other capabilities which are useful when modelling physical system (such as unit manager, data logging, etc). MathWorks offers a suite of physical modelling products built on top of Simscape for specialized modelling of multi-domain physical systems. For example, the Simscape Multibody is used to model 3D systems. With Simscape we can create the model using the physical network method where deriving the system level equation is not required. This makes the model easier to create, understand and maintain.