Sphere in Sphere Contact Force (3D)
This block implements a contact force between two spheres. The force acts to keep distance from frame SphB to SphF less than (inner radius SphB - radius SphF).
This is part of the Simscape Multibody Contact Forces Library
Frames connected to ports:
- Located at center of sphere
- Orientation does not matter
Output signal is a bus with intermediate calculations and total force.