Is it possible to Model magnetic attraction connections in simscape Multibody?

I am aware of the spatial contact library for modelling repulsive forces within simscape multibody, however I was wondering if there is a way to create attractive forces within simscape multibody, furthermore one that can either activate when within a proximity or one that can be toggled on and off. Any advice is much appreciated :) for possible uses within robotics to pick up blocks almost acting as a suction gripper.

Answer 1

[Jan Janse van Rensburg]

You could theoretically use a custom force law - and you should be able to turn it on and off.

See this submission: https://www.mathworks.com/matlabcentral/fileexchange/109680-multibody-contact-force-block-examples-in-simscape-multibody

In particular this example in that submission: https://www.mathworks.com/matlabcentral/fileexchange/109680-multibody-contact-force-block-examples-in-simscape-multibody - Note I have not tested this with negative force values, but I believe it would be possible

You should also have a second Spatial Contact force block that prevents penetration into the solid (Or if you create your custom force law to do this you could possibly create something that is computationally more efficient).

You could also make use of the External Force & Torque block - https://www.mathworks.com/help/sm/ref/externalforceandtorque.html?searchHighlight=external+force+block&s_tid=srchtitle_support_results_1_external+force+block - based the force on the Magnetic attraction force equations, and use the seperation distance output from the Spatial contact force block to measure the distance between the two bodies.