The companion paper [2] derives an algorithm that determines the external wrenches consistent with constraints on the contact interactions between two rigid planar bodies. In this paper, we show how this algorithm may be used to create sensorless plans that guarantee that a workpiece is correctly inserted into a fixture. Our method explicitly removes all wrenches consistent with undesirable con...

Alexis de Tocqueville, a French political scientist and historian who visited America in 1831, is quoted frequently on the distinctions he found between the New and Old Worlds. But some of his other comments highlighted similarities across civilizations: “The village or township is the only association which is so perfectly natural that, wherever a number of men are collected, it seems to const...

The successful execution of any contact task fundamentally requires the application of wrenches (forces and moments) consistent with the task. We develop an algorithm for computing the entire set of wrenches consistent with achieving a given augmented contact mode (e.g., sliding at contact 1, rolling at contact 2, and approaching potential contact 3) for one fixed and one moving part in the plane.

In lathe operation, the most frequently used wrenches are chuck and tool holder wrenches, which different in structure function cannot be replaced, forgetting to remove will cause safety accidents. To solve above problems, this paper designs a new type of wrench, integrates functions wrench various screwdrivers, can easily change form by certain improves production efficiency eliminates hazards.