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. Author manuscript; available in PMC: 2012 Feb 20.

Published in final edited form as: IEEE Int Conf Robot Autom. 2011:1139–1146. doi: 10.1109/ICRA.2011.5980347

Fig. 4 — Numerically computed values of distributed friction torque,τ_1z ×10³ (dashed line), total distributed force, $‖ f_{1} ‖$ (solid black line) and normal distributed force, $‖ f_{n 1} ‖$ (grey line), versus friction coefficient μ. Values are for the tip of tube pair B(s = L)when rotated to α(0) = π/2.