Simscape 2nd generation friction in the revolute joint

Hello, I was wondering if it is possible to model a friction in a revolute joint in the Simscape 2nd generation model. Thank you for your support.

Answer 1

[Richard Terkovic]

The way I tried to do it is that you allow velocity sensing and torque Input.

Then you use blocks: angular velocity source, rotational friction and ideal torque sensor. Setting up the proper friction values is a different question.

[Tran Son]

hi Richard, i just want to ask if i want to model a prismatic joint with translational friction, could i do the same as the diagram above but simply change everthing to translational and force sensor

Answer 2

[Domagoj Majstorovic]

I know it's been a while since you've posted the question, but someone might find this useful.

You can open the Revolute Joint, go to 'Internal Mechanics' and set 'Damping Coefficient' to something small like 1e-2. This will account for dissipative losses at the joints due to friction.