User`s guide

Using CAD Models with the Simulink 3D Animation Product
5-35
rotating support — arm — wrist — hand — tool
So when the rotating support moves, all other parts are usually designed to move with
it.
The hierarchy of the VRML file must correspond to the coordinates used in the dynamic
model of the assembly as follows:
• If all parts in the Simulink or SimMechanics model are defined in global coordinates,
use a flat virtual world structure.
• If all parts in the Simulink or SimMechanics model follow hierarchical relationships,
use a nested virtual world structure.
To illustrate these two cases, imagine a rotating pendulum according to the following
figure. The gray arm rotates about the vertical axis, while the orange pendulum swings
about the z axis in the rotating gray arm's local coordinates.