Sphere to Plane Contact Force (3D)

This block implements a contact force between a sphere and a plane. The force is active above and below the plane.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to PlaB port:

  1. Located at midpoint of plane (x, y, and z).
  2. Z-axis is normal to the surfaces where force is active.

Frame connected to the SphF port:

  1. Located at center of sphere.
  2. Orientation does not matter.

Output signal is a bus with intermediate calculations and total force.