Mobility of bodies in contact. II. How forces are generated by curvature effects?
Mobility of bodies in contact. II. How forces are generated by curvature effects?
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接触物体的移动性。
DOI：
10.1109/robot.1994.350937
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发表时间：
1994
期刊：
影响因子：
--
通讯作者：
J. Burdick
中科院分区：
文献类型：
--
作者：
E. Rimon;J. Burdick
我们研究了物体B与手指物体a /sub /，…无摩擦接触时，由2/sup和/ order效应产生的接触力。A/下标k/。一个简单的悖论表明刚体模型不足以解释接触力是如何由2/sup和/ order效应产生的。介绍了一类基于构形空间的弹性变形模型，并证明了该模型可以解释曲面曲率产生的约束力。利用这些弹性变形模型，我们证明了任何运动固定到1/sup /或2/sup /阶的物体对于摄动也是动态局部渐近稳定的
We investigate the contact forces generated by 2/sup nd/ order effects for a body B, in frictionless contact with finger bodies A/sub 1/,..., A/sub k/. A simple paradox shows that rigid body models are inadequate to explain how contact forces are generated by 2/sup nd/ order effects. A class of configuration-space based elastic deformation models are introduced, and are shown to explain the restraining forces produced by surface curvature. Using these elastic deformation models, we prove that any object which is kinematically immobilized to 1/sup st/ or 2/sup nd/ order is also dynamically locally asymptotically stable with respect to perturbations.<<ETX>>