A Compliant Contact Model Including Interference Geometry for Polyhedral Objects

[+] Author and Article Information
Lianzhen Luo

Department of Mechanical Engineering & Centre for Intelligent Machines, McGill University, Montreal, QC, Canada, H3A 2K6lzluo@cim.mcgill.ca

Meyer Nahon

Department of Mechanical Engineering & Centre for Intelligent Machines, McGill University, Montreal, QC, Canada, H3A 2K6Meyer.Nahon@mcgill.ca

J. Comput. Nonlinear Dynam 1(2), 150-159 (Nov 15, 2005) (10 pages) doi:10.1115/1.2162870 History: Received May 17, 2005; Revised November 15, 2005

Modeling of contact with the environment is an essential capability for the simulation of space robotics system, which includes tasks such as berthing and docking. The effect of interbody contact on the robotic system has to be determined to predict potential problems in the design cycle. A compliant contact dynamics model is proposed here that considers most possible contact situations for a wide diversity of possible object shapes and using interference geometry information. A uniform formula is provided to determine the contact force as a function of geometric parameters and material properties. A corresponding geometric algorithm is provided in order to obtain the necessary geometric parameters. Some simulation results are presented based on the implementation of the geometric algorithm.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Canada’s Space Station Remote Manipulator System (SSRMS) and Special Purpose Dexterous Manipulator (SPDM) on the truss of the space station (courtesy of MD Space Missions)

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Figure 2

Three contact types

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Figure 3

(a) Cone indenter and (b) contact area of cone indenter

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Figure 4

Extreme cases of point, line, and face contact

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Figure 5

p(r)A∕P for cases 1 and 2

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Figure 6

p(x)A∕P for cases 3 and 4

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Figure 7

p(r)A∕P for cases 5 and 7 with circular contact area

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Figure 8

p(x)A∕P for cases 6 and 7 with rectangular contact area

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Figure 9

Right-angle triangular contacting area

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Figure 10

Arbitrary polygonal contacting area

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Figure 11

Overlap polyhedron with 3D boundary polygon and its projection area

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Figure 12

Direct mapping procedure

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Figure 13

Example of the normal and area of a face found indirectly

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Figure 15

Shape coefficient

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Figure 17

Angle between normals from the two methods

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Figure 18

Sphere dropped on a plate

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Figure 20

Penetration depth




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