Swedish wheel modelling.

I'm trying to model a swedish wheel (mecanum wheel) in simscape. I modelled the wheel in Solidworks and used 'smimport' function to get the model in simscape. Now i'm trying to model contact forces between the wheel and a plane. I'm facing difficulty in defining the contact force between the 9 rollers of the wheel and the plane. I've attached the image of my wheel herewith. I'm aware that i have to use the 'Sphere to plane force' block to enable 3D contact. But the problem here is that the wheel is not a uniform body, rather it contains different bodies like the wheel frame, axles and rollers. And the rollers' position and orientation changes dynamically with time. So i need help with how i can define the contact force between the rollers and the plane. TIA.

[akshay marvaniya]

Dear Sundaramoorthy Arivanantham ,

i have same problem like your problem

can you get any solution or some direction please share with us

your small contribution will help us a lot

thanks for reply