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Analysis and simulation of mechanica...

Wang, Yin-Tien.

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Analysis and simulation of mechanical systems with multiple frictional contacts.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Analysis and simulation of mechanical systems with multiple frictional contacts./
Author:	Wang, Yin-Tien.
Description:	174 p.
Notes:	Source: Dissertation Abstracts International, Volume: 53-05, Section: B, page: 2512.
Contained By:	Dissertation Abstracts International53-05B.
Subject:	Applied Mechanics. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=9227782

Analysis and simulation of mechanical systems with multiple frictional contacts.
Wang, Yin-Tien.

Analysis and simulation of mechanical systems with multiple frictional contacts. - 174 p.

Source: Dissertation Abstracts International, Volume: 53-05, Section: B, page: 2512.

Thesis (Ph.D.)--University of Pennsylvania, 1992.

There are several applications in robotics and manufacturing in which nominally rigid objects are subject to multiple frictional contacts. Since such a system is characterized by unilateral constraints, the topology of the mechanical system varies with time. That is, each time when a contact is formed or broken, or when a rolling contact changes to a sliding contact, the mobility of the mechanical system and the structure of the differential equations that characterize the system change. The research in this dissertation focuses on a systematic method for the analysis and simulation of such systems.Subjects--Topical Terms:

1018410
Applied Mechanics.

Analysis and simulation of mechanical systems with multiple frictional contacts.
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035 $a (UMI)AAI9227782
035 $a AAI9227782
040 $a UMI $c UMI
100 1 $a Wang, Yin-Tien. $3 1685289
245 1 0 $a Analysis and simulation of mechanical systems with multiple frictional contacts.
300 $a 174 p.
500 $a Source: Dissertation Abstracts International, Volume: 53-05, Section: B, page: 2512.
500 $a Supervisor: Vijay Kumar.
502 $a Thesis (Ph.D.)--University of Pennsylvania, 1992.
520 $a There are several applications in robotics and manufacturing in which nominally rigid objects are subject to multiple frictional contacts. Since such a system is characterized by unilateral constraints, the topology of the mechanical system varies with time. That is, each time when a contact is formed or broken, or when a rolling contact changes to a sliding contact, the mobility of the mechanical system and the structure of the differential equations that characterize the system change. The research in this dissertation focuses on a systematic method for the analysis and simulation of such systems.
520 $a In most previous work, rigid body models and empirical models for friction have been used to analyze the dynamics of such systems. It is shown here that the use of frictional laws, such as Coulomb's law, introduce inconsistencies and ambiguities when used in conjunction with the principles of rigid body dynamics. Further, the static indeterminacy makes it impossible to determine the contact forces.
520 $a A new approach to the simulation of mechanical systems with multiple, frictional constraints is proposed which is free of inconsistencies. Compliant contact models are used to model the deformation of the contact surface and the energy dissipation during impacts. The method involves the integration of rigid body models with the compliant contact models--the rigid body models are used for predicting gross motion in the absence of unilateral constraints, and the contact models are used, when frictional contacts occur, for analyzing small motions. This method is compared with previous hypotheses and models and is shown to overcome their limitations.
520 $a The general method developed in this dissertation has applications in a wide range of problems in manufacturing and robotics. In this dissertation, we address the dynamic analysis and simulation of nonlinear control algorithms for multiarm manipulation, control of enveloping grasps and the parts-feeding process in manufacturing.
590 $a School code: 0175.
650 4 $a Applied Mechanics. $3 1018410
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Computer Science. $3 626642
690 $a 0346
690 $a 0548
690 $a 0984
710 2 $a University of Pennsylvania. $3 1017401
773 0 $t Dissertation Abstracts International $g 53-05B.
790 1 0 $a Kumar, Vijay, $e advisor
790 $a 0175
791 $a Ph.D.
792 $a 1992
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=9227782