Analysis and Simulation of Mechanical Systems With Multiple Frictional Contacts
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Technical Reports (CIS)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
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Wang, Yin Tien
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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.
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1991-06-01
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University of Pennsylvania Department of Computer and Information Sciences Technical Report No. MS-CIS-91-48.