Simulation of a rolling wheel on a flat surface using SimMechanics contact forces library block
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I want to implement a simulation of a rolling wheel on a flat surface using SimMechanics contact forces library block -- Sphere to plane contact. However, the library block is for contact between the sphere and a plane but I want to implement the lateral dynamics of a rolling cylinder on a plane. Can somebody please suggest me which block parameters inside the contact forces library should I target in order to suit the requirements for a rolling cylinder instead of a rolling sphere
Steve Miller 2018-3-21
In the Simscape Multibody Contact Forces Library, take a look at example Robot_2_Whl (animation below). It uses Sphere-to-Plane contact forces to model the wheels, so it can move around on a plane. It models the wheels as spheres and not disks, so if an obstacle gets close to the outer face of the wheel it will register contact.
Nicolas Schmit 2018-3-19
Use the Collision_02_Disk_Finite_Plane_Fixed example form the Contact Forces Library.
Sundaramoorthy Arivanantham 2019-2-26
Hey Mr. Miller.
I'm trying to model a swedish wheel (mecanum wheel) in simscape. I modelled the wheel in Solidworks and used 'smimport' function to get the model in simscape. Now i'm trying to model contact forces between the wheel and a plane. I'm facing difficulty in defining the contact force between the 9 rollers of the wheel and the plane. I've attached the image of my wheel herewith. TIA.
krishna teja 2020-6-7
编辑：krishna teja 2020-6-7
i have faced this issue before and approximated using sphere to plane contact (from Mr Steve Miller's contact force library)
starting from R2019b, there is spatial contact force block in simscape/multibody/forces and torques.
this helped me create rolling tire with custom tire-road interface longitudinal force.
Note: this block doesnt yet support flexible bodies, as of R2020a release
hope this helps