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Proceedings of the 2015 4th International Conference on Computer, Mechatronics, Control and Electronic Engineering
First this paper expresses kinematics relationships of Plane clearance revolute air and spatial clearance spherical hinge using absolute nodal coordinate method. This paper introduces a computation model of continuous normal collision force which can consider dissipation of collision energy. In the meantime, in order to avoid numerical value problems, this paper adopts an improved friction mode to calculate the friction force during collision. It further deducts the friction force momentdoi:10.2991/iccmcee-15.2015.135 fatcat:gm3fjjajrrh3npmh5ipcpvsg7u