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I have a little question concerning the definition of the rotation matrix in the rigid body frame.

The rotation matrix is defined like that in the help menu : "The rotation matrix that transforms a vector expressed in the outboard frame to the inboard frame".

Consequently, we have :


I would like to define my model with symbolic parameters. Consequently, i have to define the symbolic parameters and theirs values in main folder.

To illustrate, i define my parameters a1, a2 like this.

After, i need to define a frame by using the parameter a1. This frame is define like this :


I'm new to maple and maplesim and I'm trying to model a 6 DOF manipulator (IRB 140); derive its forward and inverse kinematics and control it.

I modeled the manipulator in maplesim and attached the CAD files, but I don't know how to derive the inverse kinematics!

I tried to define the end effector position and orientation symbolicly, by putting sympolics in end effector output frame an defining default values for them to use them...


In multibodies system, there exists many kind of coordinates namely joint (or relative) coordinates and absolute coordinates. Moreover, for the joint (or relative) coordinates, it is possible to choose strict, simplified, or complete coordinates.

For the moment, i only find in the tutorials system modeled with complete joint (or relative) coordinates. I will give the example of a 4 bars mechanism. The kinematic scheme with this complete joint coordinates is the following :

MapleSim already developed a Template for Linearization.

The code behind "Linearize" button in the Linearization template is as follows:


The results, namely A,B,C,D matrices in the state-space presentation, are shown in the text area "mcEqs".

How can I save these matrices to some variables for further analysis?

In addition, without the linearization template, 

Hi everybody,

Like the title said, I have a DC circuit (*.msim attach here).  In two differents ways, I find the current in R3 to be equal to -1A (*.mw attach here).  The M17 file is in french but the equations speak for themselfs.  Can someone help me to sort this problem out.


Thank you in advance for your help.


I'm interesting to model with MapleSim a system with absolute coordinates. Indeed, i would like to compare my analytical results i have found with the symbolic equations i can generate with MapleSim and the model i have built was made with absolute coordinates.

So, is it possible to model a multi body sytem with absolute coordinates instead relative coordinates ?

For the moment, i have found any model (or tutorial) with absolute coordinates ?...


I have made a model in classic maple of a mechanical system. But, as this model is a a model of a kinematic closed system, it leads to DAEs equations. Consequently, i need to use specific tool to solve my DAEs.

I know that MapleSim can solve this kind of problem.

So is it possible to use numeric solver used in MapleSim in classic Maple to solve my DAE equations ?

How can i do to call this solver from classic Maple ?

Thank you for help.


I have used classic Maple for some years but it's the first time, i use MapleSim.

So, i wanted to simulate a model given in the tutorials : the 2DRigidSliderCrank.

I launch the simulation but i receive this error message: 

Do you know what is the matter with this code ?

What do i need to add to be able to simulate this model ?


Hello, everyone, I have written 13 equations, and some of them contain 88 items at least, so they are complicated. When I have executed the program and estalished input and output ports, I click the button "Generate MapleSim Component", it takes a while for running, but there is no MapleSim Component generated in the GUI interface, strangely, no error information appears at the same time, I cann't figure out what's wrong with it? Could someone help me out? Thank you. This mw file is attached.


I need to model the MapleSim ground as a hard ground. For example when the robot swing leg hits the ground, it should not have negative vertical position. Basically, the robot will move on a surface.


Hello all,


as in title I have trouble with exporting simulation result data in MapleSim.

Storing the result works fine, but the problem occurs when it comes to exporting (and viewing the result again).

The console says

"at offset 67895293 in `C:\Users\YUKIHI~1\AppData\Local\Temp\_result2_68856801825556689291274099867619489771.m`, unexpected end of file "


the simulation settings are as follows.

td : 2 ms

How would i go about integrating



I know it has to do something with arc tan but it doesnt match up completely what would I be able to do?


I'd like to change the font size in my MapleSim plots, especially when I resize the plot to take up the whole screen.  I know how to set the line thickness of the plot lines, but I can't seem to find an option for setting the font size in the legends, titles and axes.

Also, is there a way to change the default font and line width?  





Hello all,


I created an active high pass filter and tried to obtain bode plot from "Linear System Analysis."

I could do that but now I want a transfer function of the active hight pass filter.


So as in title, I want to know how to get transfer function of the system from "Linear System Analysis."


Any helps would be appriciated.


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