Center of mass of a system composed by sub-assemblies in SimMechanics 2G

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Hello, I created a robot in SolidWorks and imported it in SimMechanics 2G (I'm working in Matlab 2014a). I would like to compute the coordinates of the robot's main body center of mass, but since in the CAD software this part was defined as an assembly composed by sub-assemblies, I have a block composed by sub-bodies, whose CoM is available.
However, I'm interested in the total CoM of the part composed by those sub-components. In the Model Explorer, if I select my body block, and tick "Show COMs", the software is able to show it in the window along with the others. Thus I'm wondering if there's a direct way to extract the coordinates, that must be stored somewhere. Thanks for any help.
Cheers, Marcello

Answers (1)

Steve Miller
Steve Miller on 29 Oct 2021
Hi Marcello,
You can extract the information you are looking for using the Simscape Multibody Inertia Sensor, added in R2019b.
It can calculate the CG and other quantities for a set of rigidly connected parts or for a set of parts connected by joints.
--Steve

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