Practical problems like regulating robot grippers critically rely on accurately predicted friction forces. Qualified methods are derived and discussed subsequently. Special attention is paid to the question of solution existence. A time-stepping scheme which supports Coulomb friction and inelastic impacts is implemented and the numerical results are analyzed. The approach proofs to be stable, a...

We present a theory of qualitative rigid body mechanics and describe a program that uses this theory to compute qualitative dynamic simulations. The program works directly from a qualitative representation of geometry (qc-space). It employs a new qualitative representation for forces that reduces ambiguity in force sums and hence reduces branching.

We propose a new three-dimensional dynamic theory of transforming materials intended to make realistic simulations of the dynamic behavior of these materials accessible. The theory is appropriate for materials whose free energy function rises steeply from its energy wells. Essentially, the theory is the multiwell analog of ordinary rigid body mechanics with three additional features: the full s...

The dynamic characteristics of deflectable nose missiles with rotary single-channel control were investigated in this paper. Firstly, the effective angle of attack, effective angle of sideslip and quasi-body coordinates were introduced based on the spin characteristics of the missile’s body. Secondly, considering the interaction between the missile’s nose and body, the rigid kinetic model of mi...