Motion space analysis of objects in multiple point contacts with applications to form-closure and kinematic pairs

K, RK and Sen, D (2020) Motion space analysis of objects in multiple point contacts with applications to form-closure and kinematic pairs. In: Mechanism and Machine Theory, 153 .

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Abstract

This paper presents a screw theory based method for determining the set of possible second-order relative motions between two 3D rigid objects which are initially in a finite number of unilateral point contacts. Using adjoint transformation for twist and twist-derivative, the motion space allowed by each contact is referred to a common coordinate system. Thereafter, a set of quadratic inequalities in twist and twist-derivative coordinates are solved for obtaining the resultant allowable motions. We show that a minimum of three frictionless contacts are sufficient for curvature based form-closure. Also, it is shown exactly that a regular tetrahedron can be in second-order form-closure with four identical spheres in point contact. © 2020

Item Type:	Journal Article
Publication:	Mechanism and Machine Theory
Publisher:	Elsevier Ltd
Additional Information:	The Copy right for this article belongs to Elsevier Ltd
Keywords:	Motion analysis, Adjoint transformation; Common coordinate systems; Frictionless contacts; Kinematic pairs; Multiple points; Quadratic inequality; Regular tetrahedron; Relative motion, Point contacts
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	14 Oct 2020 10:26
Last Modified:	08 Dec 2022 11:36
URI:	https://eprints.iisc.ac.in/id/eprint/65911

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