Single Point of Contact Manipulation of Unknown Objects
... Physics • Developing an exact description of the convex wrench hull in this case is difficult. • Instead, we take samples of w’(x) and show bounds on the error in the convex hull constructed from these samples. – Because w’(x) is linear in r we need only sample the minimal and maximal values of r f ...
... Physics • Developing an exact description of the convex wrench hull in this case is difficult. • Instead, we take samples of w’(x) and show bounds on the error in the convex hull constructed from these samples. – Because w’(x) is linear in r we need only sample the minimal and maximal values of r f ...
Chapter5
... with the normal force which is also a contact force but is directed perpendicular to the contact surface). • It is produced by electromagnetic interactions between the molecules at the contacting surfaces of the two objects. • The frictional force on an object is always directed opposite to its velo ...
... with the normal force which is also a contact force but is directed perpendicular to the contact surface). • It is produced by electromagnetic interactions between the molecules at the contacting surfaces of the two objects. • The frictional force on an object is always directed opposite to its velo ...
5-6,7,8,9
... 3. It has the same value along the rope (for example, between points A and B). The following assumptions are made: a. The rope has negligible mass compared to the mass of the object it pulls. b. The rope does not stretch. If a pulley is used as in fig.(b) and fig.(c), we assume that the pulley is ma ...
... 3. It has the same value along the rope (for example, between points A and B). The following assumptions are made: a. The rope has negligible mass compared to the mass of the object it pulls. b. The rope does not stretch. If a pulley is used as in fig.(b) and fig.(c), we assume that the pulley is ma ...
ppt
... • Static friction increases with the logarithm of hold time. • True contact area increases with the logarithm of hold time. • True contact area increases proportionally to the normal load. • A sudden increase in the piston's velocity gives rise to a sudden increase in the friction, and vice versa. • ...
... • Static friction increases with the logarithm of hold time. • True contact area increases with the logarithm of hold time. • True contact area increases proportionally to the normal load. • A sudden increase in the piston's velocity gives rise to a sudden increase in the friction, and vice versa. • ...
Chapter 4 Introducing Forces
... Depends on nature of the surfaces-rougher surfaces have more friction than smoother ones Actually an electromagnetic interaction at the atomic level. Surface atoms of objects in contact interact and form attractive forces leading to a “stick and slip” process when one object slides over another e.g. ...
... Depends on nature of the surfaces-rougher surfaces have more friction than smoother ones Actually an electromagnetic interaction at the atomic level. Surface atoms of objects in contact interact and form attractive forces leading to a “stick and slip” process when one object slides over another e.g. ...
Contact Mechanics
... • If R is a planar region, with uniform friction and uniform normal, then all pressure distributions over R are equivalent to • A combination of forces on convex hull of R • If R is polygonal, a combination of forces on the vertices of the convex hull of R • [“Equivalent”: one-to-one mapping between ...
... • If R is a planar region, with uniform friction and uniform normal, then all pressure distributions over R are equivalent to • A combination of forces on convex hull of R • If R is polygonal, a combination of forces on the vertices of the convex hull of R • [“Equivalent”: one-to-one mapping between ...
Frictional contact mechanics
Contact mechanics is the study of the deformation of solids that touch each other at one or more points. This can be divided into compressive and adhesive forces in the direction perpendicular to the interface, and frictional forces in the tangential direction. Frictional contact mechanics is the study of the deformation of bodies in the presence of frictional effects, whereas frictionless contact mechanics assumes the absence of such effects.Frictional contact mechanics is concerned with a large range of different scales. At the macroscopic scale, it is applied for the investigation of the motion of contacting bodies (see Contact dynamics). For instance the bouncing of a rubber ball on a surface depends on the frictional interaction at the contact interface. Here the total force versus indentation and lateral displacement are of main concern. At the intermediate scale, one is interested in the local stresses, strains and deformations of the contacting bodies in and near the contact area. For instance to derive or validate contact models at the macroscopic scale, or to investigate wear and damage of the contacting bodies’ surfaces. Application areas of this scale are tire-pavement interaction, railway wheel-rail interaction, roller bearing analysis, etc. Finally, at the microscopic and nano-scales, contact mechanics is used to increase our understanding of tribological systems, e.g. investigate the origin of friction, and for the engineering of advanced devices like atomic force microscopes and MEMS devices.This page is mainly concerned with the second scale: getting basic insight in the stresses and deformations in and near the contact patch, without paying too much attention to the detailed mechanisms by which they come about.