Contact Properties - MapleSim Help
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Contact Properties

Record of contact parameters

 

Description

Parameters

Description

The ContactProperties record stores values for contact parameters. It can be used with any of the Contact Forces components by setting the use record boolean parameter to true and inserting the record name into the contact properties field.

The mode parameter selects one of three modes: Linear spring and damper, Linear spring and limited damper, and Hunt and Crossley. The first two use the c and d parameters to set the spring and damping constants. The Hunt and Crossley model uses the parameters cn, dn, n, p, and q. See the Multibody Contact Modes help page for the resulting force equations.

The μ parameter is the coefficient of friction between contacting bodies.

The kμ parameter is a smoothness coefficient for sliding friction, and it scales μ by tanhkμvt, where vt is the tangential velocity.

The ε parameter specifies a minimum length used when normalizing vectors.

Parameters

Name

Default

Units

Description

Modelica ID

mode

Linear spring and limited damper

 

Contact force formulation

mode

c

104

Nm

Spring constant (c > 0 required)

c

d

0

Nsm

Damping constant

d

cn

104

 

Nonlinear spring constant (c > 0 required)

cn

dn

0

 

Nonlinear damping constant

dn

n

1.5

 

Nonlinear elastic force exponent

n

p

n

 

Nonlinear damping force exponent

p

q

1

 

Nonlinear damping force exponent

q

μ

0

 

Coefficient of friction

mu

kμ

1

 

Smoothness coefficient for sliding friction

kTANH

ε

0.001

 

Minimum vector length for normalization

eps

See Also

Multibody

Multibody Contacts