how to model a car wheel?

I have been trying to make a car, which has 6 DOF joint with the world frame as the wheel. I implemented a hard stop for the lowest point of the wheel so when it falls on the ground with that face, it gets reflected back as expected. But if the wheel is spinning it does not necessarily fall on the ground with the follower frame which makes the wheel sink in and stop only when it crosses the follower frame. How do we model such a system?

Answer 1

[Steve Miller]

I recommend looking at the File Exchange submission Simscape Multibody Contact Forces Library. It contains a library of blocks for use with Simscape Multibody that detect collision between various shapes, calculates the normal force and friction force on each part, and applies them to the colliding parts.

Below are a few animations that test models included in the submission. The Simscape Multibody Contact Forces Library contains the library for current and previous MATLAB releases.

Also look at the File Exchange Submission Vehicle Model with Delft-Tyre in Simscape Multibody that includes a full vehicle model that has 15 DOF, and it uses the free software Delft-Tyre to model the contact between the car and the road

Thanks,

--Steve

Two-wheeled robot:

Ball in spinning cone: