Adding stribeck friction to a pendulum modeled with SimMechanics 2nd Generation

I'm trying to learn how to use SimMechanics. There are simple examples that show to to make a pendulum. I'd like to add stribeck friction to the revolute joint. There is a block that does exactly this in the Simscape mechanical rotation foundation library but I cannot figure out how to interface it with the 2nd generation SimMechanics.

Should I not assume that the Simscape Foundation library (mechanical specifically) can work with the 2nd generation SimMechanics? If the answer is no... then what is the recommended way to implement a custom function at a joint (e.g. custom friction)?

Thanks.

Answer 1

[Steve Miller]

For custom friction at a joint, take a look at the Simscape Multibody Multiphysics Library. It contains many examples for creating custom forces at joints based on other quantities.

The friction you wish to implement requires measuring the velocity of the joint, calculating a resistance torque, and applying that to the joint. The hardstop examples in the File Exchange submission mentioned above show you how to do that.

--Steve