Consider adding a gripping mechanism to the robot The mechan

Consider adding a gripping mechanism to the robot. The mechanism will be used to grab tennis balls and place them in the serving machine. Determine an expression for the necessary minimum gripping force, Gf, required to hold the ball if the coefficient of static friction between the tennis ball and the gripping surfaces is 0.6. Assume that both r and theta change with time, and that the tennis ball has a mass, mall. Derive an expression for the static gripping force, This is the gripping force required if the robot is in a stationary configuration. Compare this expression to the expression you obtained from pan 3. How are they related? Perform some example calculations to show the difference between the static case and the dynamic case. How you present this is up to you.

Solution

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