Hybrid, Multiresolution Wires with Massless Frictional Contacts
نویسندگان
چکیده
منابع مشابه
Modeling of Frictional Contacts for Dynamic Simulation
The paper addresses rigid body dynamic simulation of mechanical systems with frictional contacts. It is well known that the use of Coulomb's law of friction with the principles of classical rigid body dynamics introduces mathematical inconsistencies. Speciically, the initial value problem may have no solutions or more than one solution. We show that a suitable lumped model of compliance in the ...
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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 th...
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There are several applications in robotics and manufacturing in which nominally rigid objects are subject to multiple frictional contacts with other objects. In most previous work, rigid body models have been used to analyze such systems. There are two fundamental problems with such an approach. Firstly, the use of frictional laws, such as Coulomb's law, introduce inconsistencies and ambiguitie...
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This paper addresses the problem of computing force-closure grasps with four non-coplanar contact points. The proposed approach in this work to determine force-closure grasp, is valid for sets of four faces with coplanar or non-coplanar normal, and is based on geometric operations. First, the sets of four object faces that due to their relative orientations and positions allow concurrent, flat-...
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ژورنال
عنوان ژورنال: IEEE Transactions on Visualization and Computer Graphics
سال: 2011
ISSN: 1077-2626
DOI: 10.1109/tvcg.2010.122