I am trying to make a simulation of a robotic hand grasping a ball and after this, different objects. I would like to reduce the problem to just one finger. Let's suppose that the finger is fixed and can just rotate from the bottom axis. I place a motor at the bottom of the finger, and i would like that the finger stops when it reaches an obstacle and measure the contact forces at that moment. My finger actually is driver by a constant speed of 5 rpm and when it reaches the surface of the ball it keeps rotating until it passes through the ball like it is a ghost. How can i make the finger stop when it reaches the surface of the ball? One finger shall stop when it reaches the ball but the others shall still move until they reach the ball too. As you can see in the attached photo, then simulation stops, one or more fingers did not touched the ball yet. Please help!
eng. David Dragomir