Simscape Multibody Contact Forces Library

Contact force examples and library.

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/