How can I sense the 6 DOF force and torque between A rigid and B rigid in simscape? (A rigid and B rigid are rigidly connected)

Hi, there! I'm doing a research on UAV cooperative transportation system. (two quadrotors and one payload, rigidly connected)

Due to the research, I want to measure the action force and reaction force between the payload and each quadrotor in Simscape.

I'm a newbie to Simscape, so I would be gratitude if you can offer some reference or tutorials. Thanks

Answer 1

[Raj]

Hi @Chang ChiaCheng

I understand you want to measure the action and reaction force between the payload and quadrotor. Below are the links you could refer to for a headstart

1. Force and Torque Sensing- https://www.mathworks.com/help/sm/ug/force-and-torque-sensing.html
2. Simscape Multibody Contact Forces Library-https://www.mathworks.com/matlabcentral/fileexchange/47417-simscape-multibody-contact-forces-library
3. Quadcopter Drone Model- https://www.mathworks.com/matlabcentral/fileexchange/63580-quadcopter-drone-model-in-simscape

Also, I personally found Simscape Onramp helpful to get started with Simscape. You can also refer to it for a better understanding on how Simscape works.

https://www.mathworks.com/help/simscape/ref/simscapeonramp.html

I hope this helps and you are able to proceed further in your research!