Static grasping of a spherical object by two robot fingers is studied in this paper. The fingers may be rigid bodies or elastic beams, they may grasp the body with various orientation angles, and the tightening displacements may be linear or angular. Closed-form solutions for normal and tangential contact forces due to tightening displacements are obtained by solving compatibility equations, fo...

In the present research, in contrast to the available papers, not only the superelasticity but also the shape memory effects are taken into account in determination of the impact responses. At the same time, in addition to modifying Brinson’s model for the shape memory alloys (SMAs), to include new parameters and loading events, and Hertz contact law, distributions of the SMA phases are conside...

An approximate model to compute resulting wrench of the dry friction tangent forces in frame of the Hertz contact problem is built up. An approach under consideration develops in a natural way the contact model constructed earlier. Generally an analytic computation of the integrals in the Contensou–Erismann model leads to the cumbersome calculation, decades of terms, including rational function...

A model is developed in this work to predict the thermal contact resistance of carbon nanotube (CNT) array interfaces with CNT arrays synthesized directly on substrate surfaces. An analytical model for contact mechanics is first developed in conjunction with prior data from load–displacement experiments to predict the real contact area established in CNT array interfaces as a function of applie...

In this paper, a graphical dynamic simulator is developed that can simulate actively-coordinated wheeled vehicle systems on uneven faceted terrain. Based on the considerations of model delity and computational efciency, a simple geometric model for wheel-terrain contact is proposed. In addition, a computationallye cient algorithm for contact detection is developed. We also devise a contact forc...

In this paper a semi cylindrical fluid filled hyperelastic finger model for soft contact has been developed from the basic principles of mechanics. The deformation parameters namely contact width and radial deflection were calculated for different applied forces. To validate this analytical model, compression tests were conducted on silicone rubber finger specimens . Contact width and radial de...

abstract: application of atomic force microscope as a manipulator for pushing-based positioning of nano-particles has been of considerable interest during recent years. however a detailed modeling of the interaction forces and control on the afm tip is important for prosperous manipulation control, a reliable control of the afm tip position during the afm-based manipulation process is a main is...