Departmental Papers (MEAM)

Document Type

Conference Paper

Subject Area


Date of this Version

April 2004


Copyright 2004 IEEE. Reprinted from Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), Volume 1, pages 39-44.
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We introduce computational support tools for the analysis and design of systems with multiple frictional contacts, with a focus on applications to part feeding and assembly processes. The tools rely on dynamic models of the processes. We describe two approaches to modeling, the Stewart-Trinkle model [1] and the Song-Pang-Kumar model [2], that allow the designer to experiment with different geometric, material and dynamic properties and optimize the design for performance. In order to accomodate contact transitions, we introduce a smooth cone model for friction. We illustrate the models and the design process by describing the design optimization of a part feeder.



Date Posted: 24 November 2004

This document has been peer reviewed.