Modeling and static analysis of a three-rigid-link object for nonprehensile manipulation planning

This work presents the dynamic modeling and the static analysis of a three rigid link object manipulated by two cooperative arms in a plane. Such analysis is required as a step prior to the nonprehensile manipulation planning of the object. The system is configured in a way such that one of the two robot arms is in contact with two links of the object, while the other arm is in contact with the third link. The purpose of the static analysis is to obtain the interaction forces as well as their locations between the object links and the arms required to hold the object for a specified configuration. The dynamic model of the system is introduced, and the static analysis considering both the frictionless and frictional contact cases between the arms and the object links is deduced. The effect of changing the direction of the static frictional forces at multi contact points is introduced.