摘要: The problem of force distribution in systems involving multiple frictional contacts between actively coordinated mechanisms and passive objects is examined. special case which the contact interaction can be modeled by three components forces (zero moments) particularly interesting. Moore-Penrose generalized inverse solution for such a model (point contact) shown to yield vector that difference at any two points projected along line joining vanishes. Such system described helicoidal field geometrically similar velocity rigid body twisting about an instantaneous screw axis. A method determine this presented. possibility superposing another constitutes null also investigated. >
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