diff --git a/CFL_Core/Libraries/Contact_Forces_Lib.slx b/CFL_Core/Libraries/Contact_Forces_Lib.slx index 556305e..25bdf85 100644 Binary files a/CFL_Core/Libraries/Contact_Forces_Lib.slx and b/CFL_Core/Libraries/Contact_Forces_Lib.slx differ diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_Block_NotchCircle.m b/CFL_Core/Libraries/Extrusions/Extr_Data_Block_NotchCircle.m index 04b9fa0..80ba765 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_Block_NotchCircle.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_Block_NotchCircle.m @@ -17,7 +17,7 @@ % add 'plot' as the final argument % >> Extr_Data_Block_NotchCircle(2,1,0.7,45,0.2,'plot') -% Copyright 2012-2022 The MathWorks, Inc. +% Copyright 2012-2023 The MathWorks, Inc. % Default data to show diagram if (nargin == 0) diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_Box.m b/CFL_Core/Libraries/Extrusions/Extr_Data_Box.m index b125794..440b5fb 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_Box.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_Box.m @@ -16,7 +16,7 @@ % add 'plot' as the final argument % >> Extr_Data_Box(10,5,'plot') -% Copyright 2013-2022 The MathWorks, Inc. +% Copyright 2013-2023 The MathWorks, Inc. % Default data to show diagram if (nargin == 0) diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Circles.m b/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Circles.m index ef64505..a3873c3 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Circles.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Circles.m @@ -19,7 +19,7 @@ % add 'plot' as the final argument % >> Extr_Data_Cam_Circles(4,3,5,1,0,'plot') -% Copyright 2012-2022 The MathWorks, Inc. +% Copyright 2012-2023 The MathWorks, Inc. % Default data to show diagram if (nargin == 0) diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Roller_Curve.m b/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Roller_Curve.m index 66eb8d0..9dbd731 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Roller_Curve.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_Cam_Roller_Curve.m @@ -18,7 +18,7 @@ % add 'plot' as the final argument % >> Extr_Data_Cam_Roller_Curve([sind(1:4:360)' 1.5*cosd(1:4:360)'],0.2,'Outside','plot') -% Copyright 2017-2022 The MathWorks, Inc. +% Copyright 2017-2023 The MathWorks, Inc. % Default data to show diagram if (nargin == 0) diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_Custom.m b/CFL_Core/Libraries/Extrusions/Extr_Data_Custom.m index fcc443f..751ae4f 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_Custom.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_Custom.m @@ -2,7 +2,7 @@ function Extr_Data_Custom(xy_data) %Extr_Data_Custom Plot custom extrusion data. % This function plots x-y data for a custom extrusion. -% Copyright 2012-2022 The MathWorks, Inc. +% Copyright 2012-2023 The MathWorks, Inc. % Plot diagram to show parameters and extrusion diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_Ellipse.m b/CFL_Core/Libraries/Extrusions/Extr_Data_Ellipse.m index ba9370c..934c70e 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_Ellipse.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_Ellipse.m @@ -17,7 +17,7 @@ % add 'plot' as the final argument % >> Extr_Data_Ellipse(5,2,60,315,1,'plot') -% Copyright 2012-2022 The MathWorks, Inc. +% Copyright 2012-2023 The MathWorks, Inc. % Default data to show diagram if (nargin == 0) diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_Frustum_Conical.m b/CFL_Core/Libraries/Extrusions/Extr_Data_Frustum_Conical.m index 48a0a68..bfb1f9f 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_Frustum_Conical.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_Frustum_Conical.m @@ -16,7 +16,7 @@ % add 'plot' as the final argument % >> Extr_Data_Frustum_Conical(5,60,4,4,'plot') -% Copyright 2017-2022 The MathWorks, Inc. +% Copyright 2017-2023 The MathWorks, Inc. % Default data to show diagram showplot = 'n'; diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_Link2Hole.m b/CFL_Core/Libraries/Extrusions/Extr_Data_Link2Hole.m index f42a4c4..195a28b 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_Link2Hole.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_Link2Hole.m @@ -15,7 +15,7 @@ % add 'plot' as the final argument % >> Extr_Data_Link2Hole(10,5,2,'plot') -% Copyright 2012-2022 The MathWorks, Inc. +% Copyright 2012-2023 The MathWorks, Inc. % Default data to show diagram if (nargin == 0) diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_LinkHoles.m b/CFL_Core/Libraries/Extrusions/Extr_Data_LinkHoles.m index ee6f7d1..80dd9af 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_LinkHoles.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_LinkHoles.m @@ -17,7 +17,7 @@ % add 'plot' as the final argument % >> Extr_Data_LinkHoles(10,5,1,3,'plot') % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. % Default data to show diagram if (nargin == 0) diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_Ring.m b/CFL_Core/Libraries/Extrusions/Extr_Data_Ring.m index a51f881..bddd308 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_Ring.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_Ring.m @@ -16,7 +16,7 @@ % add 'plot' as the final argument % >> Extr_Data_Ring(10,5,45,315,'plot') -% Copyright 2012-2022 The MathWorks, Inc. +% Copyright 2012-2023 The MathWorks, Inc. % Default data to show diagram if (nargin == 0) diff --git a/CFL_Core/Libraries/Extrusions/Extr_Data_TriangleRounded_Holes.m b/CFL_Core/Libraries/Extrusions/Extr_Data_TriangleRounded_Holes.m index 97557a0..7b1a191 100644 --- a/CFL_Core/Libraries/Extrusions/Extr_Data_TriangleRounded_Holes.m +++ b/CFL_Core/Libraries/Extrusions/Extr_Data_TriangleRounded_Holes.m @@ -19,7 +19,7 @@ % add 'plot' as the final argument % >> Extr_Data_TriangleRounded_Holes(6,4,0.33,1,2,'plot') % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. % Default data to show diagram if (nargin == 0) diff --git a/CFL_Core/Libraries/Help/Box_to_Belt_Contact.m b/CFL_Core/Libraries/Help/Box_to_Belt_Contact.m index 3356166..ab4a871 100644 --- a/CFL_Core/Libraries/Help/Box_to_Belt_Contact.m +++ b/CFL_Core/Libraries/Help/Box_to_Belt_Contact.m @@ -6,7 +6,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Box_to_Box_Contact.m b/CFL_Core/Libraries/Help/Box_to_Box_Contact.m index 5a0a7bd..b8a8193 100644 --- a/CFL_Core/Libraries/Help/Box_to_Box_Contact.m +++ b/CFL_Core/Libraries/Help/Box_to_Box_Contact.m @@ -4,7 +4,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxB_Corners.m b/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxB_Corners.m index 7b58be3..a7e4a95 100644 --- a/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxB_Corners.m +++ b/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxB_Corners.m @@ -5,7 +5,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxF_Corners.m b/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxF_Corners.m index 4f18b49..ec4a47e 100644 --- a/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxF_Corners.m +++ b/CFL_Core/Libraries/Help/Box_to_Box_Contact_Forces_BoxF_Corners.m @@ -5,7 +5,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Circle_to_Circle_Contact.m b/CFL_Core/Libraries/Help/Circle_to_Circle_Contact.m index 36a6544..b8023ed 100644 --- a/CFL_Core/Libraries/Help/Circle_to_Circle_Contact.m +++ b/CFL_Core/Libraries/Help/Circle_to_Circle_Contact.m @@ -5,7 +5,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Circle_to_Finite_Line_Contact.m b/CFL_Core/Libraries/Help/Circle_to_Finite_Line_Contact.m index 6404e98..343b673 100644 --- a/CFL_Core/Libraries/Help/Circle_to_Finite_Line_Contact.m +++ b/CFL_Core/Libraries/Help/Circle_to_Finite_Line_Contact.m @@ -5,7 +5,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Circle_to_Ring_Contact.m b/CFL_Core/Libraries/Help/Circle_to_Ring_Contact.m index 598f82f..026284b 100644 --- a/CFL_Core/Libraries/Help/Circle_to_Ring_Contact.m +++ b/CFL_Core/Libraries/Help/Circle_to_Ring_Contact.m @@ -5,7 +5,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Contact_Forces_Library_Use.m b/CFL_Core/Libraries/Help/Contact_Forces_Library_Use.m index 7de874d..41a76a7 100644 --- a/CFL_Core/Libraries/Help/Contact_Forces_Library_Use.m +++ b/CFL_Core/Libraries/Help/Contact_Forces_Library_Use.m @@ -1,6 +1,6 @@ %% Using the Simscape Multibody Contact Forces Library % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Face_to_Plane_Contact.m b/CFL_Core/Libraries/Help/Face_to_Plane_Contact.m index 5a21d3d..7eafb8f 100644 --- a/CFL_Core/Libraries/Help/Face_to_Plane_Contact.m +++ b/CFL_Core/Libraries/Help/Face_to_Plane_Contact.m @@ -7,7 +7,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Force_Laws.m b/CFL_Core/Libraries/Help/Force_Laws.m index 0df583f..b66303e 100644 --- a/CFL_Core/Libraries/Help/Force_Laws.m +++ b/CFL_Core/Libraries/Help/Force_Laws.m @@ -4,7 +4,7 @@ % . It applies for 2D and 3D contact forces. % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Friction_Laws.m b/CFL_Core/Libraries/Help/Friction_Laws.m index c5d1259..d7fd7cc 100644 --- a/CFL_Core/Libraries/Help/Friction_Laws.m +++ b/CFL_Core/Libraries/Help/Friction_Laws.m @@ -4,7 +4,7 @@ % . It applies for 2D and 3D contact forces. % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Sphere_in_Sphere_Contact.m b/CFL_Core/Libraries/Help/Sphere_in_Sphere_Contact.m index 2333ac7..e921b98 100644 --- a/CFL_Core/Libraries/Help/Sphere_in_Sphere_Contact.m +++ b/CFL_Core/Libraries/Help/Sphere_in_Sphere_Contact.m @@ -6,7 +6,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Sphere_to_Belt_Contact.m b/CFL_Core/Libraries/Help/Sphere_to_Belt_Contact.m index 1cb8518..b537506 100644 --- a/CFL_Core/Libraries/Help/Sphere_to_Belt_Contact.m +++ b/CFL_Core/Libraries/Help/Sphere_to_Belt_Contact.m @@ -6,7 +6,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Sphere_to_Cone_Contact.m b/CFL_Core/Libraries/Help/Sphere_to_Cone_Contact.m index f93167d..a317daa 100644 --- a/CFL_Core/Libraries/Help/Sphere_to_Cone_Contact.m +++ b/CFL_Core/Libraries/Help/Sphere_to_Cone_Contact.m @@ -5,7 +5,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Sphere_to_Plane_Contact.m b/CFL_Core/Libraries/Help/Sphere_to_Plane_Contact.m index cb346f7..bce6b5c 100644 --- a/CFL_Core/Libraries/Help/Sphere_to_Plane_Contact.m +++ b/CFL_Core/Libraries/Help/Sphere_to_Plane_Contact.m @@ -5,7 +5,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Sphere_to_Sphere_Contact.m b/CFL_Core/Libraries/Help/Sphere_to_Sphere_Contact.m index 38d9c9c..d85d23b 100644 --- a/CFL_Core/Libraries/Help/Sphere_to_Sphere_Contact.m +++ b/CFL_Core/Libraries/Help/Sphere_to_Sphere_Contact.m @@ -4,7 +4,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/Sphere_to_Tube_Contact.m b/CFL_Core/Libraries/Help/Sphere_to_Tube_Contact.m index 37a5d22..ef56b55 100644 --- a/CFL_Core/Libraries/Help/Sphere_to_Tube_Contact.m +++ b/CFL_Core/Libraries/Help/Sphere_to_Tube_Contact.m @@ -5,7 +5,7 @@ % % This is part of the % -% Copyright 2014-2022 The MathWorks, Inc. +% Copyright 2014-2023 The MathWorks, Inc. diff --git a/CFL_Core/Libraries/Help/html/Box_to_Belt_Contact.html b/CFL_Core/Libraries/Help/html/Box_to_Belt_Contact.html index 2608b96..f631f6c 100644 --- a/CFL_Core/Libraries/Help/html/Box_to_Belt_Contact.html +++ b/CFL_Core/Libraries/Help/html/Box_to_Belt_Contact.html @@ -66,7 +66,7 @@ -

Box to Belt Contact Forces (2D)

This block models planar contact forces between a box and a conveyor belt. The conveyor belt moves at the speed specified by the input signal in m/s.

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of box and belt
  2. Box and belt are in XY plane of frame

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This block models planar contact forces between a box and a conveyor belt. The conveyor belt moves at the speed specified by the input signal in m/s.

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of box and belt
  2. Box and belt are in XY plane of frame

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This subsystem models planar contact forces between two boxes.

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of boxes
  2. Box is in XY plane of frame

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This subsystem models planar contact forces between two boxes.

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of boxes
  2. Box is in XY plane of frame

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This subsystem models planar contact forces the corners of the Base box and the faces of the Follower Box. It is used within the Box to Box Contact Force

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of boxes
  2. Box is in XY plane of frame

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This subsystem models planar contact forces the corners of the Base box and the faces of the Follower Box. It is used within the Box to Box Contact Force

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of boxes
  2. Box is in XY plane of frame

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This subsystem models planar contact forces the corners of the Follower box and the faces of the Base Box. It is used within the Box to Box Contact Force

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of boxes
  2. Box is in XY plane of frame

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This subsystem models planar contact forces the corners of the Follower box and the faces of the Base Box. It is used within the Box to Box Contact Force

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of boxes
  2. Box is in XY plane of frame

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a 2D contact force between two circles. It acts to repel frames CirB and CirF.

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of circle
  2. Circle is in XY plane of frame
  3. Active range: counter-clockwise from -x axis of CirB

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a 2D contact force between two circles. It acts to repel frames CirB and CirF.

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of circle
  2. Circle is in XY plane of frame
  3. Active range: counter-clockwise from -x axis of CirB

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a 2D contact force between a circle and a finite line. The force is active above and below the line.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to LinB port:

  1. Located at midpoint of line.
  2. X-axis is normal to the finite line.
  3. Y-axis is along the finite line.

Frame connected to the CirF port:

  1. Z-axis aligned with frame attached to LinB port.

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a 2D contact force between a circle and a finite line. The force is active above and below the line.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to LinB port:

  1. Located at midpoint of line.
  2. X-axis is normal to the finite line.
  3. Y-axis is along the finite line.

Frame connected to the CirF port:

  1. Z-axis aligned with frame attached to LinB port.

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a 2D contact force between a circle and a ring. The force is active on the outside and the inside of the ring.

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of circle/ring
  2. Circle/Ring is in XY plane of frame
  3. Active range: counter-clockwise from -x axis of RinB

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a 2D contact force between a circle and a ring. The force is active on the outside and the inside of the ring.

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of circle/ring
  2. Circle/Ring is in XY plane of frame
  3. Active range: counter-clockwise from -x axis of RinB

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This subsystem implements a contact force between a plane and a square face. The plane is assumed significantly larger than the face such that the edges will never intersect. The force is active above and below the plane and face.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to PlaB port:

  1. Located at midpoint of plane (x, y, and z).
  2. Z-axis is normal to the surfaces where force is active.

Frame connected to the FacF port:

  1. Located at midpoint of box (x, y, and z).
  2. Z-axis is normal to the surfaces where force is active.

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This subsystem implements a contact force between a plane and a square face. The plane is assumed significantly larger than the face such that the edges will never intersect. The force is active above and below the plane and face.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to PlaB port:

  1. Located at midpoint of plane (x, y, and z).
  2. Z-axis is normal to the surfaces where force is active.

Frame connected to the FacF port:

  1. Located at midpoint of box (x, y, and z).
  2. Z-axis is normal to the surfaces where force is active.

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

The diagrams and text below describe the configurable force laws in the Simscape Multibody Contact Forces Library. It applies for 2D and 3D contact forces.

You can also create your own customized force law:

Add your own in Simulink: Edit Custom Force Law

See also friction law documentation

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

The diagrams and text below describe the configurable force laws in the Simscape Multibody Contact Forces Library. It applies for 2D and 3D contact forces.

You can also create your own customized force law:

Add your own in Simulink: Edit Custom Force Law

See also friction law documentation

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

The diagrams and text below describe the configurable friction force laws in the Simscape Multibody Contact Forces Library. It applies for 2D and 3D contact forces.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

The diagrams and text below describe the configurable friction force laws in the Simscape Multibody Contact Forces Library. It applies for 2D and 3D contact forces.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a contact force between two spheres. The force acts to keep distance from frame SphB to SphF less than (inner radius SphB - radius SphF).

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of sphere
  2. Orientation does not matter

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a contact force between two spheres. The force acts to keep distance from frame SphB to SphF less than (inner radius SphB - radius SphF).

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of sphere
  2. Orientation does not matter

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a contact force between a sphere and a moving belt with round ends. The force is active above and below the belt.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to BelB port:

  1. Located at midpoint of plane (x, y, and z).
  2. Z-axis is normal to the surfaces where force is active.

Frame connected to the SphF port:

  1. Located at center of sphere.
  2. Orientation does not matter.

Output signal is a bus with intermediate calculations and total force.

Input signal is a bus that enables the force and controls belt speed.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2018a

This block implements a contact force between a sphere and a moving belt with round ends. The force is active above and below the belt.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to BelB port:

  1. Located at midpoint of plane (x, y, and z).
  2. Z-axis is normal to the surfaces where force is active.

Frame connected to the SphF port:

  1. Located at center of sphere.
  2. Orientation does not matter.

Output signal is a bus with intermediate calculations and total force.

Input signal is a bus that enables the force and controls belt speed.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2018a

This block implements a contact force between a sphere and a cone. The force is active outside and inside the cone.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to ConB port:

  1. Located at widest end of the cone
  2. Z-axis is aligned with the cone axis
  3. Active range: counter-clockwise from -x axis of ConB

Frame connected to SphF port:

  1. Located at center of sphere
  2. Orientation does not matter

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a contact force between a sphere and a cone. The force is active outside and inside the cone.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to ConB port:

  1. Located at widest end of the cone
  2. Z-axis is aligned with the cone axis
  3. Active range: counter-clockwise from -x axis of ConB

Frame connected to SphF port:

  1. Located at center of sphere
  2. Orientation does not matter

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a contact force between a sphere and a plane. The force is active above and below the plane.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to PlaB port:

  1. Located at midpoint of plane (x, y, and z).
  2. Z-axis is normal to the surfaces where force is active.

Frame connected to the SphF port:

  1. Located at center of sphere.
  2. Orientation does not matter.

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2018a

This block implements a contact force between a sphere and a plane. The force is active above and below the plane.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to PlaB port:

  1. Located at midpoint of plane (x, y, and z).
  2. Z-axis is normal to the surfaces where force is active.

Frame connected to the SphF port:

  1. Located at center of sphere.
  2. Orientation does not matter.

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2018a

This subsystem implements a contact force between two spheres. It acts to repel frames SphB and SphF.

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of sphere
  2. Orientation does not matter

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This subsystem implements a contact force between two spheres. It acts to repel frames SphB and SphF.

This is part of the Simscape Multibody Contact Forces Library

Frames connected to ports:

  1. Located at center of sphere
  2. Orientation does not matter

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a contact force between a sphere and a tube. The force is active outside and inside the tube.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to TubB port:

  1. Located at midpoint of the tube axis
  2. Z-axis is aligned with the tube axis
  3. Active range: counter-clockwise from -x axis of TubB

Frame connected to SphF port:

  1. Located at center of sphere
  2. Orientation does not matter

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2022 The MathWorks, Inc.
Published with MATLAB® R2017a

This block implements a contact force between a sphere and a tube. The force is active outside and inside the tube.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to TubB port:

  1. Located at midpoint of the tube axis
  2. Z-axis is aligned with the tube axis
  3. Active range: counter-clockwise from -x axis of TubB

Frame connected to SphF port:

  1. Located at center of sphere
  2. Orientation does not matter

Output signal is a bus with intermediate calculations and total force.

Copyright 2014-2023 The MathWorks, Inc.
Published with MATLAB® R2017a

Simscape Multibody Contact Forces Library -

Copyright 2014-2022 The MathWorks™, Inc.


Published with MATLAB® R2019b

+ + + + + Simscape Multibody Contact Forces Library -

Copyright 2014-2022 The MathWorks™, Inc.


Published with MATLAB® R2022b