| 摘要 |
Methods for model simulation and corresponding systems (100) and computer-readable mediums (126). A method includes receiving (505) a simulation model (300), the simulation model including at least one master joint (312) connected to at least one slave joint (318) by a coupling (314), the master joint having a rigid body master attachment (308) and the slave joint having a rigid body slave attachment (302). The method includes identifying (510) a master axis (320) of the master attachment and a slave axis (322) of the slave attachment. The method includes making (520) a motor determination as to whether the master axis or the slave axis has a motor (316) and making (525) a cross-base determination. The method includes making (530) a constraint determination of which bodies to constrain based on the motor determination and the cross-base determination, storing (535) constraints according to the constraint determination, and executing (540) the simulation model according to the constraint determination. |
