In a SolidWorks assembly, you connect parts using mates.Each mate applies a geometric relationship between mate entities ondifferent parts. Mates include parallel, concentric, and coincidenttypes. Mate entities include points, lines, and surfaces.
mates
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Consider the connection between the upper-arm and forearm partsof a robotic arm assembly. This connection allows the two parts torotate with respect to each other about a single axis and thereforehas one rotational degree of freedom. You specify this degree of freedomby applying mates such as:
Joint and Constraint blocks are the Simscape Multibody equivalentof SolidWorks mates. They apply between two bodies the kinematicconstraints that determine how they can move. A Revolute Joint blockis an example. This block removes five degrees of freedom betweentwo bodies, allowing them only to rotate about a common axis.
Consider the connection between the upper-arm and forearm partsof the robotic arm assembly. This connection provides a single rotationaldegree of freedom and therefore is a revolute joint. During CAD import,the mates between the two parts translate into a Revolute Joint blockbetween two rigid body subsystems. The figure shows this joint blockin an imported model (polished for clarity).
By defining the relative degrees of freedom between two bodies,Joint blocks partially determine how these bodies can move with respectto each other. Constraint blocks enable you to impose additional restrictionson their motion. CAD mates can translate into these Constraint blocks:
The table shows the Constraint blocks that different mate combinationsmap into. Different mates map into the same Constraint block if theyprovide the same degrees of freedom. Angle mates must have valuesof 0 or 90 degrees. Other mate settings are not supported. For a legendof the icons in the table, see Mates and Entities.
Unsupported mates between parts translate into rigidconnections between rigid bodies. The rigid connections can be inthe form of Weld Joint blocks or direct frame connection lines betweenthe rigid bodies. These connections are meant to be temporary. AfterCAD import, search your model for rigid connections and, if appropriate,replace them with other Joint and Constraint blocks.
When Darwin first proposed the possibility of sexual selection, he identified two mechanisms, male competition for mates and female choice of mates. Extending this classification, we distinguish two forms of mate choice, direct and indirect. This distinction clarifies the relationship between Darwin's two mechanisms and, furthermore, indicates that the potential scope for sexual selection is much wider than thus far realized. Direct mate choice, the focus of most research on sexual selection in recent decades, requires discrimination between attributes of individuals of the opposite sex. Indirect mate choice includes all other behavior or morphology that restricts an individual's set of potential mates. Possibilities for indirect mate choice include advertisement of fertility or copulation, evasive behavior, aggregation or synchronization with other individuals of the same sex, and preferences for mating in particular locations. In each of these cases, indirect mate choice sets the conditions for competition among individuals of the opposite sex and increases the chances of mating with a successful competitor. Like direct mate choice, indirect mate choice produces assortative mating. As a consequence, the genetic correlation between alleles affecting indirect choice and those affecting success in competition for mates can produce self-accelerating evolution of these complementary features of the sexes. The broad possibilities for indirect mate choice indicate that sexual selection has more pervasive influences on the coevolution of male and female characteristics than previously realized. 2ff7e9595c
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