Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies-Reference-Cited by-同舟云学术

Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies

Published:1996-12-01 Issue:4 Volume:63 Page:974-984
ISSN:0021-8936
Container-title:Journal of Applied Mechanics
language:en
Short-container-title:

Author:

Sankar N.¹,Kumar V.²,Yun Xiaoping³

Affiliation:

1. Department of Computing and Information Science, Queen’s University, Kingston, Ontario K7L 3N6, Canada

2. Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104

3. Department of Electrical and Computer Engineering, Naval Postgraduate School, Monterey, CA 93943-5121

Abstract

During manipulation and locomotion tasks encountered in robotics, it is often necessary to control the relative motion between two contacting rigid bodies. In this paper we obtain the equations relating the motion of the contact points on the pair of contacting bodies to the rigid-body motions of the two bodies. The equations are developed up to the second order. The velocity and acceleration constraints for contact, for rolling, and for pure rolling are derived. These equations depend on the local surface properties of each contacting body. Several examples are presented to illustrate the nature of the equations.

Publisher

ASME International

Subject

Mechanical Engineering,Mechanics of Materials,Condensed Matter Physics

Link

http://asmedigitalcollection.asme.org/appliedmechanics/article-pdf/63/4/974/5465160/974_1.pdf

Reference23 articles.

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2. Brock, D. L., 1988, “Enhancing the Dexterity of a Robot Hand Using Controlled Slip,” Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, pp. 249–251.

3. Cai C. , and RothB., 1986, “On the planar motion of rigid bodies with point contact,” Mechanism and Machine Theory, Vol. 21, No. 6, pp. 453–466.

4. Cai, C., and Roth, B., 1987, “On the spatial motion of rigid bodies with point contact,” Proceedings of the IEEE International Conference on Robotics and Automation, Raleigh, NC, pp. 686–695.

5. Cai, C., and Roth, B., 1988, “On the spatial motion of rigid bodies with line contact,” Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, PA, pp. 1036–1041.

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