Contact Kinematics Between Three-Dimensional Rigid Bodies With General Surface Parameterization

被引:1
|
作者
Xiao, MuBang [1 ]
Ding, Ye [1 ]
机构
[1] Shanghai Jiao Tong Univ, State Key Lab Mech Syst & Vibrat, Shanghai 200240, Peoples R China
基金
中国国家自然科学基金;
关键词
contact kinematics; three-dimensional rigid body; general surface parameterization; grasping and fixturing;
D O I
10.1115/1.4048916
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This paper provides an improvement of classic Montana's contact kinematics equations considering non-orthogonal object parameterizations. In Montana's model, the reference frame used to define the relative motion between two rigid bodies in three-dimensional space is chosen as the Gauss frame, assuming there is an orthogonal coordinate system on the object surface. To achieve global orthogonal parameterizations on arbitrarily shaped object surfaces, we define the relative motion based on the reference frame field, which is the orthogonalization of the surface natural basis at every contact point. The first- and second-order contact kinematics, including the velocity and acceleration analysis of the relative rolling, sliding, and spinning motion, are reformulated based on the reference frame field and the screw theory. We use two simulation examples to illustrate the proposed method. The examples are based on simple non-orthogonal surface parameterizations, instead of seeking for global orthogonal parameterizations on the surfaces.
引用
收藏
页数:11
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