Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Fast Algorithm for Contact Dynamics of Multibody Systems Using the Box Friction Model J. Comput. Nonlinear Dynam. 2016;12(1):011016-011016-11. doi:10.1115/1.4034396 Figure Legend: (a) Polyhedral approximation of the friction cone and (b) box approximation of the friction cone where dn is the contact Jacobian of the normal direction, and d1 and d2 are the contact Jacobians of the tangent directions

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Fast Algorithm for Contact Dynamics of Multibody Systems Using the Box Friction Model J. Comput. Nonlinear Dynam. 2016;12(1):011016-011016-11. doi:10.1115/1.4034396 Figure Legend: (a) OTCM connected to the SPDM manipulator (courtesy of the Canadian Space Agency) [37] and (b) OTCM—orbit replaceable unit/tool changeout mechanism

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Fast Algorithm for Contact Dynamics of Multibody Systems Using the Box Friction Model J. Comput. Nonlinear Dynam. 2016;12(1):011016-011016-11. doi:10.1115/1.4034396 Figure Legend: Simulated OTCM and fixture: (a) OTCM, jaws, and fixture and (b) jaws grasping the fixture

Date of download: 10/22/2017 Copyright © ASME. All rights reserved. From: A Fast Algorithm for Contact Dynamics of Multibody Systems Using the Box Friction Model J. Comput. Nonlinear Dynam. 2016;12(1):011016-011016-11. doi:10.1115/1.4034396 Figure Legend: (a) A cube moving on the ground and (b) stack of blocks moving on the ground