Simscape Multibody Contact Forces Library
Updated 17 Apr 2021
This library contains contact force models and force laws for multibody modeling in Simscape Multibody. They cover 2-dimensional and 3-dimensional problems with or without friction. More than 45 example models are provided, including basic contact force examples (bouncing ball) and more complex applications such as a cam-follower mechanism, differential drive robot, and a robot arm with a gripper. Both linear and nonlinear force laws are included, and you can easily add your own custom force law.
Please read the README.md file to get started.
Use the "Download from GitHub" button above to get files compatible with the latest release of MATLAB.
Use the links below to get files compatible with earlier releases of MATLAB.
For R2020b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/22.214.171.124.zip
For R2020a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/126.96.36.199.zip
For R2019b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/188.8.131.52.zip
For R2019a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/184.108.40.206.zip
For R2018b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/220.127.116.11.zip
For R2018a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/18.104.22.168.zip
For R2017b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/22.214.171.124.zip
For R2017a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/126.96.36.199.zip
For R2016b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/188.8.131.52.zip
For R2016a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/184.108.40.206.zip
For R2015b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/220.127.116.11.zip
For R2015a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/18.104.22.168.zip
See how to use these forces to model a cam-follower mechanism:
Learn more about multibody simulation with Simscape Multibody by watching this webinar
Find other Simscape examples by searching posts for the keyword "physical modeling"
Learn more about MathWorks Simscape Products:
Steve Miller (2021). Simscape Multibody Contact Forces Library (https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/releases/tag/22.214.171.124), GitHub. Retrieved .
MATLAB Release Compatibility
Platform CompatibilityWindows macOS Linux
Inspired: Multi-body Simulator for Bicycle Stability , Modeling Pneumatic Robot Actuators, Sphero Simulation in Simscape Multibody, Stacker Crane Multibody Model, Designing Robot Manipulator Algorithms, MATLAB and Simulink Robotics Arena: Introduction to Contact Modeling
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