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...

We simulate static model sandpiles in two dimensions (2D) and focus on the stresses inside the pile. In this study tangential forces, e.g. friction, are neglected. We compare the simplest possible interaction model, i.e. a linear spring and a linear dashpot, with a nonlinear law based on Hertz' theory. Furthermore, we present data obtained by a simulation of frictionless polygons with twelve si...

in this paper, dynamic analysis of the composite truncated sandwich conical shells (stcs) with various boundary conditions subjected to low velocity impact was studied analytically, based on higher order sandwich panel theory. impact was assumed to occur normally over to the top face-sheet and the contact force history is predicted using two solution models of the motion are derived based on ha...

To reduce the vibration and deformation of large thin-walled workpieces during milling process, mirror is widely used due to its point-to-point support strong applicability. The influence head on workpiece’s dynamic characteristics crucial in determining whether process reliable effective. Therefore, this study establishes a time-varying model for with various boundary conditions accurately ana...