Simscape Multibody - Spatial Contact Force Block - Interference Fit modeling

3 次查看（过去 30 天）
Hakan Ertugrul
Hakan Ertugrul 2021-2-12
回答： Hakan Ertugrul 2021-3-10
Hello,
I wonder if there is a possibility to model an interference fit, like peg-in-hole application.
As far as I see from "Spatial Contact Force" block examples or Simscape Multibody Contact Forces Library (https://www.mathworks.com/matlabcentral/fileexchange/47417-simscape-multibody-contact-forces-library), it is not possible to model this type of contact.
What I need to model is insertation force, friction force and normal forces.
Any help would be appreciated.
Best regards,
Hakan

请先登录，再回答此问题。

回答（2 个）

Juan Sagarduy
Juan Sagarduy 2021-2-22
Hello Hakan
The interference fit is a complex phenomenon to model. I think that I would approach this as a prismatic joint with external friction modelled with pure Simscape.
For that purpose, you need a translational interface linking Multibody and Simscape.
See link: https://se.mathworks.com/help/physmod/sm/ug/translational-interface-radial-engine-with-gas-force-model.html
Best of Luck Juan
  1 个评论
Hakan Ertugrul
Hakan Ertugrul 2021-2-23
Hello Juan,
Thank you. Representing the interference fit with prismatic joint is a great idea. I will try.
Actually, I would like to model peg-in-hole robotic manipulator application with interference or close fit. Although your recommendation is more than enough, if you have other recommendations, I will be more than happy to get.
Best regards,
Hakan

请先登录，再进行评论。

Hakan Ertugrul
Hakan Ertugrul 2021-3-10
Dear @Juan Sagarduy,
Again, thanks for your answer.
I am using Robotics Toolbox in Simulink and performing dynamical simulation. The simulation consists of a free movement and then a contact arised from a peg-in-hole task.
Because of the contact, I need to pass the reaction forces and moments back to the robot (by multiplying with the transpose of the jacobian of the end-effector of the robot in order to convert them to joint torques) to include contact effects on the robot.
As fas as I see, either Simulink Multibody Contact Forces Libary or Spatial Contact Force Block only gives normal forces in scalar, not vectoral.
Is there a way to get forces and torques in vector format to feed robot for contact dynamics effects?
Thanks in advance.
Best regards,
Hakan

类别

在 Help Center 和 File Exchange 中查找有关 Simscape Multibody 的更多信息

标签

产品


版本

R2020b

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by