Confusion understanding series/parallel relationship of mechanical components of a DC motor in Simulink Simscape

After watching this youtube video, I am trying to implement Simscape model of a DC motor in simulink - see snapshots below.

I understand from both photos that the electrical components' resistance and inductance are in series with each other and the electromechanical converter, but I am confused by the series/parallel relationship of mechanical components, inertia, and rotational damper and their relationship with the electromechanical converter.According to my understanding of simscape, damper rotational electromechanical converter are in parallel with each other and this parallel combination is in series with inertia. But i am confused by the schematic diagram, is there same series parallel relationship like that in simscape?

Answer 1

[Epsilon]

Hi ABTJ, your interpretation for the connections is correct.

It seems the main reason for this confusion is the Inertia block. It shows only one point of connection to the rod.

In newer releases the Inertia block has a 'Number of graphical ports' parameter that allows to add a second port on the opposite side of the block icon. (https://www.mathworks.com/help/simscape/ref/inertia.html)

The updated Inertia block is better to understand graphically.

This parameter might not be present in the release R2015a but rest assured the functionality remains the same, it is just a different graphical representation.