Simulation of a rolling wheel on a flat surface using SimMechanics contact forces library block
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I want to implement a simulation of a rolling wheel on a flat surface using SimMechanics contact forces library block -- Sphere to plane contact. However, the library block is for contact between the sphere and a plane but I want to implement the lateral dynamics of a rolling cylinder on a plane. Can somebody please suggest me which block parameters inside the contact forces library should I target in order to suit the requirements for a rolling cylinder instead of a rolling sphere
Steve Miller on 21 Mar 2018
In the Simscape Multibody Contact Forces Library, take a look at example Robot_2_Whl (animation below). It uses Sphere-to-Plane contact forces to model the wheels, so it can move around on a plane. It models the wheels as spheres and not disks, so if an obstacle gets close to the outer face of the wheel it will register contact.
More Answers (3)
Nicolas Schmit on 19 Mar 2018
Use the Collision_02_Disk_Finite_Plane_Fixed example form the Contact Forces Library.
Sundaramoorthy Arivanantham on 26 Feb 2019
Hey Mr. Miller.
I'm trying to model a swedish wheel (mecanum wheel) in simscape. I modelled the wheel in Solidworks and used 'smimport' function to get the model in simscape. Now i'm trying to model contact forces between the wheel and a plane. I'm facing difficulty in defining the contact force between the 9 rollers of the wheel and the plane. I've attached the image of my wheel herewith. TIA.
krishna teja on 7 Jun 2020
Edited: krishna teja on 7 Jun 2020
i have faced this issue before and approximated using sphere to plane contact (from Mr Steve Miller's contact force library)
starting from R2019b, there is spatial contact force block in simscape/multibody/forces and torques.
this helped me create rolling tire with custom tire-road interface longitudinal force.
Note: this block doesnt yet support flexible bodies, as of R2020a release
hope this helps