This paper presents the analysis of restraint of a rigid body in contact with any arrangement of point contacts having known frictional properties. A necessary condition for the solution of this problem is that the elastic properties of the contacts are also known. The relationship between externally applied loads and contact forces in the presence of limiting friction is established, as is the means for evaluating the resulting bodily motion, with or without slip at the contacts. An example is given to illustrate the application of the theoretical basis to a device such as a robot gripper that relies on friction for restraint.

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