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Three-Dimensional Force System01:30

Three-Dimensional Force System

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In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
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Simplification of a Force and Couple System: II01:23

Simplification of a Force and Couple System: II

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In a three-dimensional system, multiple forces can act on an object. These forces can be combined into a single equivalent force, known as the resultant force. Similarly, the moments generated by these forces can be combined into a single equivalent moment, the resultant couple moment. In certain situations, these two entities may not be mutually perpendicular, meaning they do not have a 90-degree angle between them. This unique condition requires a deeper understanding of the interplay between...
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Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
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Two-Dimensional Force System01:20

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A two-dimensional system in mechanical engineering involves the analysis of motion and forces in a plane. A two-dimensional force vector can be resolved into its components as:
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Static and Kinetic Frictional Force01:05

Static and Kinetic Frictional Force

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One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
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Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

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Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
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Related Experiment Video

Updated: Dec 24, 2025

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

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Simultaneous Kinematic and Contact Force Modeling of a Human Finger Tendon System Using Bond Graphs and Robotic

James A Tigue1, Raymond J King1, Stephen A Mascaro2

  • 1Department of Mechanical Engineering, University of Utah, 1495 E. 100 S, Salt Lake City, UT 84112

Journal of Dynamic Systems, Measurement, and Control
|April 14, 2020
PubMed
Summary

This study presents a comprehensive bond graph model for simulating finger tendon dynamics and contact forces. The model accurately predicts finger motion and forces during both free and surface contact scenarios.

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Area of Science:

  • Robotics
  • Biomechanics
  • Mechanical Engineering

Background:

  • Existing finger models lack comprehensive simulation of both motion and contact forces.
  • Accurate modeling of finger tendon dynamics is crucial for understanding human hand function and developing advanced prosthetics.

Purpose of the Study:

  • To develop a comprehensive finger tendon model using bond graph methodology.
  • To simultaneously simulate finger kinematics and contact forces during dynamic motion.
  • To validate the model's accuracy against experimental data from a robotic finger.

Main Methods:

  • Utilized bond graph modeling to derive forward dynamics equations.
  • Incorporated nonlinear anatomical complexities like moment arms, tendon slacking, and joint range of motion (ROM).
  • Validated the model using the Utah's Anatomically correct Robotic Testbed (UART) finger.

Main Results:

  • The model accurately simulated finger motion, with average joint angle errors under 6 degrees.
  • Predicted static contact forces with an average magnitude error of 11.5% and direction error of 12 degrees.
  • Successfully simulated both free motion and surface contact scenarios.

Conclusions:

  • The developed bond graph model provides a comprehensive and accurate simulation of finger tendon dynamics and contact forces.
  • This model advances the state-of-the-art in biomechanical modeling of the human hand.
  • The validated model has potential applications in prosthetics, robotics, and ergonomic design.