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How to avoid part penetrations on SimScape SimMechanics

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In the SimScape simulation of the model the parts that constitute the assembly overlap other parts of the assembly. How to make the simulation realistic avoiding part penetrations and overlapping?

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Ben Rancici
Ben Rancici 26 Mar 2020
The Simscape Multibody "Spatial Force" might be what you are looking for (under "Forces and Torques" in Simulink Library Browser).
Be aware that you will have to identify each contact surface between a given solid and another.
I recommend you check the embeded exemple "sm_bumper_car" for instance.

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