Dynamic grasping probilem with impact

摘要

The aim of the present paper is to extend some new results obtained for impact problems in Analytical Mechanics to the case of linear elastic discretized bodies. As a pilot problem we consider the possible impacts occuring during a grasping procedure by a robot hand. To this end we study the impact problem of a 3D-discretized structure. We first prove certain equivalent forms for d'Alembert's principle, including the velocity discontinuity, and then show that the theorem of stationary action still holds as an inequality. The consideration of the variation of the unknown impact time gives rise to certain new variational expressions in inequality form.