在此对本课题所采用的接触力（Contact Force）模型和基于力的接触（Force-Based Contact）模型作补充说明，这两种模型能较好地模拟实体间的接触与碰撞。
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Based on the achieved contact force data, the relation of the contact force and deformation depth of specimens can be obtained by calculation.
根据接触载荷数据，可计算得到接触载荷与样品表面变形的关系。
Based on the force equilibrium equations, the relationship between the external wrench space and the manipulation force space at any contact is investigated.
从抓取的力平衡方程出发，研究了外力旋量空间与任一接触处操作力空间之间的关系。
Based on the rules of drawing force, drawing process is divided into four stages: start, first contact, entire contact, stable.
并将拔制力分为四个阶段：起始、初步接触、完全接触、稳定。
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