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.

Use the links below to get files compatible with earlier releases of MATLAB.

• For R2025b: Use the Download button above
• For R2025a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/25.1.5.3.zip
• For R2024b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/24.2.5.3.zip
• For R2024a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/24.1.5.3.zip
• For R2023b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/23.2.5.3.zip
• For R2023a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/23.1.5.3.zip
• For R2022b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/22.2.5.3.zip
• For R2022a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/22.1.5.3.zip
• For R2021b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/21.2.5.1.zip
• For R2021a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/21.1.5.1.zip
• For R2020b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/20.2.5.1.zip
• For R2020a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/20.1.5.1.zip
• For R2019b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/19.2.5.1.zip
• For R2019a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/19.1.4.1.zip
• For R2018b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/18.2.4.1.zip
• For R2018a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/18.1.4.1.zip
• For R2017b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/17.2.4.1.zip
• For R2017a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/17.1.4.1.zip
• For R2016b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/16.2.4.1.zip
• For R2016a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/16.1.4.1.zip
• For R2015b: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/15.2.4.1.zip
• For R2015a: https://github.com/mathworks/Simscape-Multibody-Contact-Forces-Library/archive/15.1.4.1.zip

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

Try these free, hands-on tutorials to learn how to use Simscape:

• https://matlabacademy.mathworks.com/details/simscape-onramp/simscape
• https://matlabacademy.mathworks.com/details/multibody-simulation-onramp/ormb

To learn more about modeling and simulation with Simscape, please visit:

• Simscape Getting Started Resources

Product Capabilities:

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