Sphere to Tube Contact Force (3D)

This block implements a contact force between a sphere and a tube. The force is active outside and inside the tube.

This is part of the Simscape Multibody Contact Forces Library

Frame connected to TubB port:

  1. Located at midpoint of the tube axis
  2. Z-axis is aligned with the tube axis
  3. Active range: counter-clockwise from -x axis of TubB

Frame connected to SphF port:

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

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