MATLAB: Is it possible to roll the wheel in simscape multibody

rotating bodySimscape Multibodywheel

I have created a model in simscape multibody in which i have created one wheel and one axle. I want to roll the wheel in +Y direction. the wheel is rotating around X-axis. So is it possible to translate the rotating wheel in +Y direction? In short, I want to translate and rotate the body at the same time to get the rolling of wheel.

Best Answer

Hi Shreyas,
You can use a Rack and Pinion constraint for rolling motion along a straight line. Attached is an example. I modified an example that ships with Simscape Multibody (>>smdoc_rack_and_pinion) so that it shows rolling behavior. The visualization shows a gear and a toothed bar, but this would work for smooth wheels.
If you need the wheel to slip, you would need to use another approach to model the friction between the wheel and the floor. The Simscape Multibody Contact Forces library shows how to do that for planar and 3D mechanism.
Hope that helps, --Steve
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