Determining contact force distribution for enveloping grasps: subspace structure and dynamical balance

2003 ◽  
Author(s):  
Jonghoon Park
Keyword(s):  
Contact Force ◽  
Force Distribution ◽  
Contact Force Distribution ◽  
Dynamical Balance

Choosing the Optimal Contact Force Distribution for Multi-Limbed Mobile Robots With Three Feet Contact

2003 ◽  
Author(s):  
Dennis W. Hong ◽  
Raymond J. Cipra
Keyword(s):  
Contact Force ◽  
Dimensional Space ◽  
Contact Point ◽  
Optimal Solution ◽  
Solution Space ◽  
Contact Forces ◽  
Force Distribution ◽  
Normal Vector ◽  
Optimization Criteria ◽  
Contact Force Distribution

One of the inherent problems of multi-limbed mobile robotic systems is the problem of multi-contact force distribution; the contact forces and moments at the feet required to support it and those required by its tasks are indeterminate. A new strategy for choosing an optimal solution for the contact force distribution of multi-limbed robots with three feet in contact with the environment in three-dimensional space is presented. The optimal solution is found using a two-step approach: first finding the description of the entire solution space for the contact force distribution for a statically stable stance under friction constraints, and then choosing an optimal solution in this solution space which maximizes the objectives given by the chosen optimization criteria. An incremental strategy of opening up the friction cones is developed to produce the optimal solution which is defined as the one whose foot contact force vector is closest to the surface normal vector for robustness against slipping. The procedure is aided by using the “force space graph” which indicates where this solution is positioned in the solution space to give insight into the quality of the chosen solution and to provide robustness against disturbances. The “margin against slip with contact point priority” approach is also presented which finds an optimal solution with different priorities given to each foot contact point for the case when one foot is more critical than the other. Examples are presented to illustrate certain aspects of the method and ideas for other optimization criteria are discussed.

Contact force distribution in a pile of rigid disks

1995 ◽  
Vol 51 (1) ◽  
pp. 718-723 ◽  
Author(s):  
J. Grindlay ◽  
A. H. Opie
Keyword(s):  
Contact Force ◽  
Force Distribution ◽  
Rigid Disks ◽  
Contact Force Distribution

Numerical study on contact force of paralleled beveloid gears using minimum potential energy theory

2020 ◽  
pp. 030932472093689
Author(s):  
Ruihua Sun ◽  
Chaosheng Song ◽  
Caichao Zhu ◽  
Yawen Wang ◽  
Kunming Liu
Keyword(s):  
Finite Element ◽  
Potential Energy ◽  
Contact Force ◽  
Force Distribution ◽  
Force Model ◽  
Gear Pair ◽  
Minimum Potential Energy ◽  
Contact Force Distribution ◽  
Minimum Potential ◽  
Energy Theory

Using minimum potential energy theory and slicing method, a computational approach to calculate the magnitude and distribution of contact force for paralleled beveloid gear pair was proposed in this article. The theoretical tooth contact model was built based on spatial gearing theory to calculate the mesh parameters including the coordinates, normal vectors, and equivalent radius for meshing points. Then, the analytical contact force model of paralleled beveloid gear pair was derived based on minimum potential energy theory. Finite element contact analysis was conducted to verify the proposed model. Finally, the influences of macro-geometry design parameters on the contact force distribution were investigated. Results show that the pressure angle has a limited influence on the contact force distribution. The increase in helix and cone angles will observably increase the asymmetry of contact force distribution as well as the fluctuation of contact force distribution for a single tooth. A good correlation was obtained between the proposed analytical model and the finite element model for the distribution and magnitudes of contact force.

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