On the hybrid dynamics of planar mechanisms supported by frictional contacts. I: necessary conditions for stability

@article{Or2008OnTH,
  title={On the hybrid dynamics of planar mechanisms supported by frictional contacts. I: necessary conditions for stability},
  author={Yizhar Or and Elon D. Rimon},
  journal={2008 IEEE International Conference on Robotics and Automation},
  year={2008},
  pages={1213-1218}
}
This paper is concerned with the stability of planar mechanisms supported by multiple frictional contacts against gravity. Stability of equilibrium postures is investigated under initial perturbations which may involve sliding or separation at the contacts. The frictional dynamics is formulated using the notion of contact modes, and the related problems of solution ambiguity and inconsistency are reviewed. The paper then uses the condition of strong equilibrium to eliminate ambiguities, and… CONTINUE READING