Integrals polynomial in velocity for two-degrees-of-freedom dynamical systems whose configuration space is a torus

1998 ◽  
Vol 64 (1) ◽  
pp. 31-37 ◽  
Author(s):  
N. V. Denisova
Keyword(s):  
Dynamical Systems ◽  
Configuration Space ◽  
Degrees Of Freedom ◽  
Two Degrees Of Freedom

Computational Kinematic Analysis of Higher Pairs with Multiple Contacts

1995 ◽  
Vol 117 (2A) ◽  
pp. 269-277 ◽  
Author(s):  
E. Sacks ◽  
L. Joskowicz
Keyword(s):  
Configuration Space ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Contact Conditions ◽  
Two Degrees Of Freedom ◽  
Kinematic Theory ◽  
Multiple Contacts

We present a computational kinematic theory of higher pairs with multiple contacts, including simultaneous contacts, intermittent contacts, and changing contacts. The theory systematizes single- and multiple-contact kinematic analysis by mapping it into geometric computation in configuration space. It derives the contact conditions, contact functions, and relations between contacts from the shapes and degrees of freedom of the parts. It helps identify common design flaws, such as undercutting, interference, and jamming, that cannot be systematically identified with current methods. We describe a program for the most common pairs: planar higher pairs with two degrees of freedom.

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