Toward development of a generalized contact algorithm for polyhedral objects

Presents a contact model for polyhedral objects. For a given geometrical description, body state, and viscoelastic properties it is possible to compute the contact wrench between polyhedral bodies of arbitrary shape and complexity. The C-Space Toolkit geometry engine is used to determine interpenetration distances of the multiple points in contact between the bodies. Kinematic equations describing motion of the multiple points of contact are developed. A compliant contact force model is developed which models both impact and sustained contact, as well as elastic effects such as wedging and jamming. As objects rotate relative to one another, rolling effects are included as well. Forces along the surface at the contact model microslip as well as sliding conditions. Results are obtained for the example of a torus jammed on a cone.