This paper examines the role of grasper compliance and kinematic configuration in environments where object size and location may not be well known. A grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it passively deflected during contact with a target object. The kinematic configuration and joint stiffness values of the grasper were varied ...

Force and thermal effect are dominant in giving rise to variation of bearing dynamic stiffness vibration. On the basis test theoretical analysis, vibration model angle contact ball considering friction state is established. Firstly, based on quasi-statics hydrodynamic lubrication theory, motion force relation between each parts determined by effect. Secondly, power consumption calculated adopti...

this study contains the identification of modal dynamic properties of a 3-story large-scale steel test frame structure through shaking table measurements. shaking table test is carried out to estimate the modal properties of the test frame such as natural frequencies, damping ratios and mode shapes. among many different model structures, arx (auto recursive exogenous) model structure is used fo...

This contribution presents a generalized approach to friction induced vibrations in systems of moving continua. To this end, Hamilton’s Principle is used to state a weak formulation of the system dynamics without using specific structural models, like beams or plates for instance. The normal contact is enforced by a penalty formulation, which motivates the use of a constitutive contact model ba...

Investigation of the stationary load-deflection behaviour of tyres reveals many details of the structure and the rubber to road friction properties. These characteristics are fundamental to the understanding of the behaviour of both the stationary and the rolling tyre. In connection with racing, tyre static stiffness characteristics are of interest as they reflect on the controllability of the ...

This paper presents a multimodal rendering architecture that integrates physically based sound models with haptic and visual rendering. The proposed sound modeling approach is compared to other existing techniques. An example of implementation of the architecture is presented, that realizes bimodal (auditory and haptic) rendering of contact stiffness. It is shown that the proposed rendering sch...