# Simulation of a rolling wheel on a flat surface using SimMechanics contact forces library block

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Rzwan Ahmed Afzal on 18 Mar 2018
Edited: krishna teja on 7 Jun 2020
I want to implement a simulation of a rolling wheel on a flat surface using SimMechanics contact forces library block -- Sphere to plane contact. However, the library block is for contact between the sphere and a plane but I want to implement the lateral dynamics of a rolling cylinder on a plane. Can somebody please suggest me which block parameters inside the contact forces library should I target in order to suit the requirements for a rolling cylinder instead of a rolling sphere

Steve Miller on 21 Mar 2018
In the Simscape Multibody Contact Forces Library, take a look at example Robot_2_Whl (animation below). It uses Sphere-to-Plane contact forces to model the wheels, so it can move around on a plane. It models the wheels as spheres and not disks, so if an obstacle gets close to the outer face of the wheel it will register contact.
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Steve Miller on 18 Apr 2018
Hi - the contact force that I would create for this would be "Torus to Plane". This would give you close to the behavior you are looking for, and the equations wouldn't be that hard (single set, object is symmetric about an axis). I don't know when I would be able to get to that, though. Perhaps if you look online you might find the equations already derived (location of contact point between Torus and Plane; relative velocity at point of contact), and then you could adapt Sphere-to-Plane to get what you need.
If/when I get to it, I'll update this post, but it might be a while. MathWorks Consulting could possibly do this as a paid service, or perhaps we could arrange a project with a university.
--Steve

Nicolas Schmit on 19 Mar 2018
Use the Collision_02_Disk_Finite_Plane_Fixed example form the Contact Forces Library.
Rzwan Ahmed Afzal on 19 Mar 2018
Hi Mr. Schmit, The library example for Collision_02_Disk_Finite_Plane_Fixed deals with only 2D forces and if i just consider that the disk is always in contact with the plane, then the simulation is only limited to longitudinal motion of the disk. However, i also want the simulation to take the lateral dynamics into consideration as well.
For an example: I want to simulate this example Wheel rolling on a flat surface

Hey Mr. Miller.
I'm trying to model a swedish wheel (mecanum wheel) in simscape. I modelled the wheel in Solidworks and used 'smimport' function to get the model in simscape. Now i'm trying to model contact forces between the wheel and a plane. I'm facing difficulty in defining the contact force between the 9 rollers of the wheel and the plane. I've attached the image of my wheel herewith. TIA.
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Yup. Looks like i have to connect each roller frame to the plane via 'Sphere to plane force' block. Thanks for the help mate. And, yeah sure, once i'm done with the model i'll share it on file exchange. :)
Cheers.

krishna teja on 7 Jun 2020
Edited: krishna teja on 7 Jun 2020
hi,
i have faced this issue before and approximated using sphere to plane contact (from Mr Steve Miller's contact force library)
starting from R2019b, there is spatial contact force block in simscape/multibody/forces and torques.
this helped me create rolling tire with custom tire-road interface longitudinal force.
Note: this block doesnt yet support flexible bodies, as of R2020a release
hope this helps

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