Simscape Multibody Contact Forces Library

Contact force examples and library.

Please note that the Spatial Contact Force block has been added in R2019b. You should see if this block meets your needs before using this library.

This library contains contact force models and force laws for multibody modeling in Simscape Multibody. They cover 2-dimensional and 3-dimensional problems with or without friction. More than 45 example models are provided, including basic contact force examples (bouncing ball) and more complex applications such as a cam-follower mechanism, differential drive robot, and a robot arm with a gripper. Both linear and nonlinear force laws are included, and you can easily add your own custom force law to your multibody dynamics model.

See File Exchange submission Spatial Contact Force Examples Simscape Multibody

Use the "Download" button above to get files compatible with the latest release of MATLAB.

You can also test this example in MATLAB Online.

For earlier MATLAB releases, use "Version History" tab above or these links:

• R2025b, R2025a, R2024b, R2024a, R2023b, R2023a, R2022b, R2022a, R2021b, R2021a, R2020b, R2020a, R2019b, R2019a, R2018b, R2018a, R2017b, R2017a, R2016b, R2016a, R2015b, R2015a

See how to use these forces to model a cam-follower mechanism:

• https://www.mathworks.com/videos/modeling-contact-forces-in-a-cam-follower-94291.html

Learn more about multibody simulation with Simscape Multibody by watching this webinar

• https://www.mathworks.com/videos/multibody-simulation-with-simmechanics-81877.html

Learn how to use Simscape with

• Self-paced tutorials, including multi-domain systems, 3D mechanical systems, circuits, motors, and battery packs.
• Searching posts for the keyword "physical modeling".
• Stories from users: https://www.mathworks.com/solutions/physical-modeling.html

Product Capabilities:

• Simscape™
• Simscape Battery™
• Simscape Driveline™
• Simscape Electrical™
• Simscape Fluids™
• Simscape Multibody™