Multibody Load-Dependent Friction

Is it possible to apply a friction torque to a multibody joint which is dependent on the normal force acting on said joint? The only ways I can think to do this end up with algebraic loops due to feeding the constraint force back into the actuation torque.

Do I need Driveline to do this without an algebraic loop?

Answer 1

[Steve Miller]

If the force upon which the friction depends is measured from your Multibody model using the constraint force, you will end up with an algebraic loop. If the force could be calculated outside the Simscape Multibody model, then you could do it without an algebraic loop.

Perhaps this would work - insert a spring along the axis where the normal force would be applied. Measure the displacement and velocity, calculate the normal force, and use that to calculate the friction force. This may avoid an algebraic loop.

--Steve