This paper deals with the rotational stability of a rigid body under constant contact forces. For this system, the stiffness tensor is derived, and its basic properties are analyzed. For the gravity-induced stiffness, one condition for stability, formulated in terms of geometric and gravity centers, is obtained. The internal forces are introduced with the use of a virtual linkage model. Within this representation, two conditions for stability under internal force loading are formulated in an analytical form. The conditions obtained are applied to the synthesis of a three-fingered grasp.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
- Applied Mathematics