Model Suction Cup Gripper with Contact Force Library

Hello,

I'm building a rough model of a manipulator to pick a block from a moving conveyor belt using a suction cup gripper. I've been unable to figure out how to model the contact forces for suction so far. Does anyone have some suggestions? What I've done so fare is attached a fame to the end-effector and treating the top of the box as a plane implemented the "face to plane contact force" block from the CF library. Although this does stop the block on the conveyor belt, it also brings simulink to a grinding hault. I increased the static and kinetic friction parameters of the block to attempt to model the interaction as if it were velcro but its not working.

I've attached some pictures that illustrate the problem and my model in simulink if it helps.

Thanks in advance to anyone that can help.