How can I simulate two-rigid body-interactions when the complete motion of one body is known using Simscape Multibody?

Hi everyone, I would like to use Simscape Multibody for siumulating the dynamic interaction between two rigid bodies. The initial condition of body 1 is known, and the complete motion of body 2 is known. I tried to use "Rigid Transform" to specify motion of the body 2, but I have no idea how to input presribed position time history data. I also tried the 6-DOF joint. It required torques to be known in order to obtain correct rotations, but the torques due to interacting forces are unknown. I wondering if there is an easy way of doing this.

Thanks,

Yang

[Chuguang Pan]

Two-Body-Interaction-Example. This example may give you a good start point.

[yang]

Thanks Chuguang for providing the example, but it does not solve my problem of having a body with known 3D general motion.

Answer 1

[Chuguang Pan]

@yang. You can add prescribed motion trajectory to the 6DoF Joint's actuation input port as illustrated in the following image.

[yang]

Thanks, it seems that only translational motions can be directly used as inputs to a 6-DOF joint. For rigi-body rotations, torques about body-fixed axes should be provided, but we do not have this information because torques due to interacting forces are unknown.