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Simscape Multibody Contact Forces Library

version 21.1.5.0 (9.3 MB) by Steve Miller
Contact force examples and library.

17.4K Downloads

Updated 17 Apr 2021

From GitHub

View license on GitHub

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/20.2.5.0.zip
For R2020a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/20.1.5.0.zip
For R2019b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/19.2.5.0.zip
For R2019a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/19.1.4.1.zip
For R2018b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/18.2.4.1.zip
For R2018a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/18.1.4.1.zip
For R2017b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/17.2.4.1.zip
For R2017a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/17.1.4.1.zip
For R2016b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/16.2.4.1.zip
For R2016a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/16.1.4.1.zip
For R2015b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/15.2.4.1.zip
For R2015a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/15.1.4.1.zip

See how to use these forces to model a cam-follower mechanism:
https://www.mathworks.com/videos/modeling-contact-forces-in-a-cam-follower-94291.html

Learn more about multibody simulation with Simscape Multibody by watching this webinar
https://www.mathworks.com/videos/multibody-simulation-with-simmechanics-81877.html

Find other Simscape examples by searching posts for the keyword "physical modeling"
https://www.mathworks.com/matlabcentral/fileexchange/?term=%22physical+modeling%22

Learn more about MathWorks Simscape Products:
https://www.mathworks.com/physical-modeling/

Cite As

Steve Miller (2021). Simscape Multibody Contact Forces Library (https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/releases/tag/21.1.5.0), GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2021a
Compatible with R2015a to R2021a
Platform Compatibility
Windows macOS Linux

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CFL_Core/Libraries

CFL_Core/Libraries/Extrusions

CFL_Core/Scripts_Data

CFL_Core/Scripts_Data/Doc

CFL_Core/Test_Models

Examples/2D/Ball_Bearing

Examples/2D/Ball_Bearing/Scripts_Data

Examples/2D/Cam_Follower

Examples/2D/Cam_Follower/UI

Examples/2D/Cam_Follower_Constraint

Examples/2D/Geneva_Drive

Examples/2D/Geneva_Drive/CAD/Export

Examples/2D/Mini_Golf

Examples/2D/Mini_Golf/Scripts_Data

Examples/2D/Simple/Collision

Examples/2D/Simple/Friction

Examples/2D/Spinning_Boxes

Examples/3D/Caster_4_Whl

Examples/3D/Gripper_2Belts

Examples/3D/MATLAB_Build/Spheres_in_Sphere

Examples/3D/Robot_2_Whl

Examples/3D/Robot_6Legs_4Bar

Examples/3D/Robot_6Legs_4Bar/Scripts_Data

Examples/3D/Simple/Collision

Examples/3D/Simple/Friction

Examples/3D/Tread_Drive

Scripts_Data

Scripts_Data/Doc

CFL_Core/Libraries

CFL_Core/Test_Models

Examples/2D/Ball_Bearing

Examples/2D/Ball_Bearing/Libraries

Examples/2D/Cam_Follower

Examples/2D/Cam_Follower_Constraint

Examples/2D/Conveyor_Belts

Examples/2D/Geneva_Drive

Examples/2D/Geneva_Drive/CAD/Export

Examples/2D/Mini_Golf

Examples/2D/Mini_Golf/Libraries

Examples/2D/Simple/Collision

Examples/2D/Simple/Friction

Examples/2D/Spinning_Boxes

Examples/3D/Caster_4_Whl

Examples/3D/Gripper_2Belts

Examples/3D/MATLAB_Build/Spheres_in_Sphere

Examples/3D/Robot_2_Whl

Examples/3D/Robot_6Legs_4Bar

Examples/3D/Robot_6Legs_4Bar/Libraries

Examples/3D/Simple/Collision

Examples/3D/Simple/Friction

Examples/3D/Tread_Drive

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.