Unilateral Constraints in Interactions of System Elements: Estimation of Dynamic Constraint Reactions

2021 ◽  
pp. 851-860
Author(s):  
R. S. Bolshakov ◽  
I. S. Sitov ◽  
S. V. Eliseev
Keyword(s):  
Unilateral Constraints ◽  
Dynamic Constraint

Robots with Unilateral Constraints

1997 ◽  
Vol 30 (20) ◽  
pp. 519-530 ◽  
Author(s):  
Friedrich Pfeiffer
Keyword(s):  
Unilateral Constraints

PREDICATION FOR RELATIVE MOTION OF THE COLONOSCOPE IN COLONOSCOPY

2013 ◽  
Vol 13 (03) ◽  
pp. 1350023 ◽  
Author(s):  
WU BIN CHENG ◽  
MICHAEL A. J. MOSER ◽  
SIVARUBAN KANAGARATNAM ◽  
WEN JUN ZHANG
Keyword(s):  
Frictional Force ◽  
Frictional Contact ◽  
Linear Complementarity ◽  
Intestinal Wall ◽  
Deformable Objects ◽  
Dynamic Friction ◽  
Unilateral Constraints ◽  
Common Procedure ◽  
Mechanical Compliance ◽  
Signorini's Problem

Colonoscopy is common procedure frequently carried out. It is not without its problems, which include looping formation. Looping formation prevents the tip of the colonoscope itself from advancing, thus further probing induces a risk of perforation, significant patient discomfort, and failure of colonoscopy. During colonoscopy, the manipulated colonoscope for intubation in the colon goes through the friction between the colonoscope and the colon. Due to major frictional force, the sigmoidal colon forms looping with the scope during intubation. The interactive frictional force between the colon and the colonoscope is highly complex because of frictional contact between two deformable objects. In this paper, contact force computation was formulated into a linear complementarity problem (LCP) by linearizing Signorini's problem, which was adapted into non-interpenetration with unilateral constraints. Frictional force was computed by the mechanical compliance of finite element method (FEM) models with the consideration of dynamic friction between the colonoscope and the intestinal wall. Furthermore, we presented a mathematical model of the elongation of the colon that predicts the motion of scope relative to the intestinal wall in colonoscopy.

Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints

2006 ◽  
Author(s):  
Aksel Andreas Transeth ◽  
Remco I. Leine ◽  
Christoph Glocker ◽  
Kristin Y Pettersen
Keyword(s):  
3D Modeling ◽  
Unilateral Constraints ◽  
Snake Robot

Structural design and optimization of large cable–rib tension deployable antenna structure with dynamic constraint

2018 ◽  
Vol 151 ◽  
pp. 160-172 ◽  
Author(s):  
Ruiwei Liu ◽  
Hongwei Guo ◽  
Rongqiang Liu ◽  
Hongxiang Wang ◽  
Dewei Tang ◽  
...  
Keyword(s):  
Structural Design ◽  
Antenna Structure ◽  
Design And Optimization ◽  
Dynamic Constraint
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