The problem of force distribution in systems involving multiple frictional contacts between actively coordinated mechanisms and passive objects is examined. The special case in which the contact interaction can he modeled by three components of forces (zero moments) is particularly interesting. The Moore-Penrose Generalized Inverse solution for such a model (point contact) is shown to yield a s...

This thesis deals with the solving of multiple friction contact problems between deformable bodies in the specific area of interactive simulation with force feedback. The general context of this work is the training of medical-surgical gestures via an haptic device. In this type of context, it is often necessary to take into account the global deformations of the organs and the local contact fo...

 In practice, clearances in the joints are inevitable due to tolerances, and defects arising from design and manufacturing. In the presence of clearance at a joint, a mechanism gains some additional, uncontrollable degrees of freedom which are the source of error. Moreover, joints undergo wear and backlashes and so cannot be used in precision mechanisms. In this study, the dynamic behaviour of ...

In the current study, behavior of crank-slider mechanism with single and multiple clearance joints are analyzed. Using Lankarani-Nikravesh theory for estimating discontinuous contact forces in clearance joints, relevant systems have been mathematically modeled. Through numerical simulations, perturbations in response of mechanisms with clearance joints have been analyzed. Effects of increasing ...

This study investigates the optimality of the shape of a snake robot in relation to the obstacles in the environment around it. A certain focus is given to the challenge of finding an optimal set of contact forces based on some optimality criteria. A controller scheme for realizing these contact forces on a dynamic snake model with obstacle compliance was presented, but further development and ...

A novel method is presented for efficiently testing the stability of an object under contact that accommodates empirically determined sets of admissible forces at contact points. These admissible force volumes may exhibit a wide variety of geometries, including anisotropy, adhesion, and even nonconvexity. The method discretizes the contact region into patches, performs a convex decomposition of...

Although many analytical, experimental and numerical studies have focused on droplet motion, the mechanics of the droplet while still in its static state, and just before motion starts, are not well understood. A study of static droplets would shed light on the threshold voltage (or critical inclination) for initiating electrically (or gravitationally) induced droplet motion. Before the droplet...

In thzs paper, we focus on the problem of controllang a manzpulator so as to track a desired object trajectory, whzle guaranteeang that contact forces comply wath contact constraants (frzctzon bounds, etc ). When dealing wath kznematzcally defectawe systems, zt as not possable an general to asszgn arbatmry trajectoraes of ob.fect motaons and contact forces. To understand what restrzctaons poszt...