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    Geometric Kinematics of Point Contact

    Access Status
    Fulltext not available
    Authors
    Cui, Lei
    Dai, J. S.
    Date
    2010
    Type
    Book Chapter
    
    Metadata
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    Citation
    Cui, L. and Dai, J. S. 2010. Geometric Kinematics of Point Contact, in Lenarcic, J. and Stanišic,M. (ed), Advances in Robot Kinematics: Motion in Man and Machine, pp. 429-436. New York: Springer.
    Source Title
    Advances in Robot Kinematics: Motion in Man and Machine
    DOI
    10.1007/978-90-481-9262-5_46
    ISBN
    978-90-481-9261-8
    URI
    http://hdl.handle.net/20.500.11937/16232
    Collection
    • Curtin Research Publications
    Abstract

    This paper applies Darboux frame method to developing geometric kinematics of sliding-spin-rolling motion of rigid objects with point contact. For the first time, the geodesic curvatures, normal curvatures and geodesic torsions of both the sliding motion and rolling motion are derived in terms of known geometric entities. The geometric kinematics of the moving object is represented with geometric invariants. Effect of the relative curvatures and torsion on slidingspin- rolling kinematics is explicitly presented.

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