An efficient and robust contact algorithm for a compliant contact force model between bodies of complex geometry (Q2655359)

The authors present a contact algorithm for surfaces modeled by triangles. The algorithm uses a preliminary search to determine intersecting triangle pairs, and then, employing these results, the algorithm performs a refined detailed search which ultimately provides contact forces for the contacting region. The algorithm is illustrated via two numerical examples. The paper could be of interest and use to designers of robot end-effectors and other types of graspers.