RESEARCH PAPERS: Mechanisms Papers

Restraint Analysis of a Rigid Body Using Frictional Elastic Contacts

[+] Author and Article Information
D. R. Kerr, D. J. Sanger

Department of Aeronautical and Mechanical Engineering, University of Salford, Salford, M5 4WT, United Kingdom

J. Mech., Trans., and Automation 109(4), 450-454 (Dec 01, 1987) (5 pages) doi:10.1115/1.3258816 History: Received July 01, 1986; Online November 19, 2009


This paper presents the analysis of restraint of a rigid body in contact with any arrangement of point contacts having known frictional properties. A necessary condition for the solution of this problem is that the elastic properties of the contacts are also known. The relationship between externally applied loads and contact forces in the presence of limiting friction is established, as is the means for evaluating the resulting bodily motion, with or without slip at the contacts. An example is given to illustrate the application of the theoretical basis to a device such as a robot gripper that relies on friction for restraint.

Copyright © 1987 by ASME
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