Is it possible to merge a simscape and SimMechanics model into one model?

I'm working on a model for my 3DOF robot. I've made a model for my dc motor(1), and a model for my robot(2). I now want to connect my torque controlled model to the robot model, but i cant seem to connect the motor to the model. I want to connect my motor to the small t in the 2nd picture at the revolute joint. I think it's a type mismatch. I'm studying for EE, so I'm not very familiar with ME. Is it possible to connect these 2 models or do i need another approach. Also, are there any usefull forums/books for modelling robotics using simscape?

(1)

(2)

Thanks in advance

Answer 1

[Sebastian Castro]

Yes, it is possible!

You should look into this File Exchange entry, which provides an interface between Simscape mechanical networks and Prismatic/Revolute joint primitives in SimMechanics.

- Sebastian

[Maarten van den Berg]

Thank you very much. I've seen this file, but never found the connection. Also thanks for the fast answer!