Implementing a force/torque sensor in the second generation of SimMechanics

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Jens on 14 Jan 2013

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Answered: Hongda Shi on 1 Jul 2015

I am trying to implement a force/torque sensor in the second generation of SimMechanics (2012b). For this I am currently using a 6-DOF Joint with a Spring Stiffness of 300000 N/m in all internal mechancis and sense the positions to recreate the forces and torques.

But this method slows down the simulation quite a bit. In the first generation of SimMechanics, there was the possbility to use the Joint Sensor to get the reaction forces.

Question: Is there a better way to implement a force/torque sensor in the second generation of SimMechanics?

Best regards,

Jens

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jone on 27 Feb 2014

Hi, This is very similar to my problem I want to measure contact force between two bodies last thing I tried to model force/torque using simmechanics like you did but I have some problems doing that If you can help me that would be great

thanks a lot

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Answer 1

pietro on 30 Apr 2013

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Hi,

I have a similar problem. Did you get the relative displacement between the two frames which the joint is connected? If yes, how did you do that?

Cheers

Pietro

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jone on 27 Feb 2014

Hi, This is very similar to my problem I want to measure contact force between two bodies last thing I tried to model force/torque using simmechanics like you did but I have some problems doing that If you can help me that would be great

thanks a lot

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