Technical Reports (CIS)

Document Type

Technical Report

Subject Area


Date of this Version

June 1991


University of Pennsylvania Department of Computer and Information Sciences Technical Report No. MS-CIS-91-48.


In many engineering applications such as assembly of mechanical components, robot manipulation, gripping, fixturing and part feeding, there are situations in which a rigid body is subject to multiple frictional contacts with other bodies. It is proposed to develop a systematic method for the analysis and simulation of such systems. A detailed study is presented on rigid body impact laws, and the assumption of contact compliance is investigated.



Date Posted: 30 July 2007