Motion Space of Contacting Smooth Curves in Plane Using Screw Derivative
In this paper, the proposed formulation of the single contact motion space analysis using screws and differential screws, shows that only the geometric kinematical properties affect the second-order motion space characteristics w.r.t. a contact. The classical Eulery-Savary equation derived through the present approach established its necessity and sufficiency for the second-order roll-slide motion. Geometrical interpretations of the motion space of curves in a point contact help in defining composition rules for analyzing the cases with multiple contacts. The theory is illustrated through two examples.
KeywordsFreedom analysis Curvature theory Form-closure
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