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Simscape Multibody - Spatial Contact Force Block - Interference Fit modeling

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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 (, 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,

Risposte (2)

Juan Sagarduy
Juan Sagarduy il 22 Feb 2021
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:
Best of Luck Juan
  1 Commento
Hakan Ertugrul
Hakan Ertugrul il 23 Feb 2021
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,

Accedi per commentare.

Hakan Ertugrul
Hakan Ertugrul il 10 Mar 2021
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,


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