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dc.contributor.authorCui, Lei
dc.contributor.authorDai, J. S.
dc.contributor.editorJadran Lenarcic
dc.contributor.editorMichael M. Stanišic
dc.date.accessioned2017-01-30T11:54:35Z
dc.date.available2017-01-30T11:54:35Z
dc.date.created2013-10-10T20:00:34Z
dc.date.issued2010
dc.identifier.citationCui, 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.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/16232
dc.identifier.doi10.1007/978-90-481-9262-5_46
dc.description.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.

dc.publisherSpringer
dc.subjectgeometric kinematics
dc.subjectrolling
dc.subjectcontact
dc.titleGeometric Kinematics of Point Contact
dc.typeBook Chapter
dcterms.source.startPage429
dcterms.source.endPage436
dcterms.source.titleAdvances in Robot Kinematics: Motion in Man and Machine
dcterms.source.isbn978-90-481-9261-8
dcterms.source.placeNew York
dcterms.source.chapter7
curtin.department
curtin.accessStatusFulltext not available


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