Title :
Pulling by pushing, slip with infinite friction, and perfectly rough surfaces
Author :
Lynch, Kevin M. ; Mason, Matthew T.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
When one rigid object (the pusher) pushes another (the slider) across a horizontal support plane, Coulomb´s law admits some surprising phenomena. First, it is possible to move the slider by moving the pusher away from the slider, i.e., pulling. Second, it is possible to obtain slip between the two objects even with an infinite coefficient of friction. Thus, the common conception that infinite friction prevents slip is in error. Examples of the phenomena are shown, using both quasi-static and dynamic analysis. Implications for the concept of perfectly rough surfaces are addressed
Keywords :
dynamics; friction; kinematics; mechanical contact; robots; Coulomb´s law; dynamic analysis; friction cones; horizontal support plane; motion planning; perfectly rough surfaces; pulling by pushing; quasi-static analysis; rigid object; robotics; slider; slip with infinite friction; velocity cones; Acceleration; Computer science; Friction; Gravity; Kinematics; Robots; Rough surfaces; Surface roughness; Surface treatment;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292067
