Blue robotics thruster model with simscape multibody

Hey

I have followed the toturial below to make a mathe matical model of the blue robotics thruster.

https://se.mathworks.com/videos/matlab-and-simulink-robotics-arena-from-data-to-model-1518156121608.html

First question:

Is the output of mathematical model a to for the blue robotics torque or a force ?

Second questioin:

Should the output from the mathematical model to the revolute joint be a torque or a motion se picture bellow

[Sam Chak]

Hi @CyberRobotics

From the image, the T200 Thruster looks like a propeller.

https://bluerobotics.com/store/thrusters/t100-t200-thrusters/t200-thruster-r2-rp/

Does placing the Revolute Joint there indicate that the T200 Thruster propels the remotely operated underwater vehicle (ROV) in one translational degree of freedom?

Or it has a pair of thrusters on opposite sides of the ROV fired in opposite directions to produce a rotational motion? According to the webpage, the ROV has a 6-thruster vectored configuration.

https://bluerobotics.com/store/rov/bluerov2/

[CyberRobotics]

Thanks for answering @Sam Chak

The revolute joint is repesenting the rotational motion to T200 thruster the propeler.

The output of the transferfunctoin is a force given in units Flb with input signal u.

Should the output of the transferfunction Flb be connected to motion (q) or torque (t) selected in the revolute joint settings?