Ohwovoriole, M. S. and Roth, B., 1981, An extension of screw theory, Transactions of the ASME, Journal of Mechanical Design, Vol. 103, No. 4, pp. 725--735.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....that there is a relative instantaneous rotation of the rotor with respect to the base at a 45 angle to the horizontal plane. The [0 17 0] translational component stems from the fact that the instantaneous rotation is not about the origin, but instead about the axis [1 0 1] through the point [18 0 1]. For the instantaneous velocity of the body to be zero at the point [18 0 1] p v v total w Eq. 29 or: 0 17 0 = w p v Eq. 30 where v is the translational component, namely [0 17 0] w is the instantaneous angular velocity component, namely [1 0 1] and p is the ....

....to the base at a 45 angle to the horizontal plane. The [0 17 0] translational component stems from the fact that the instantaneous rotation is not about the origin, but instead about the axis [1 0 1] through the point [18 0 1] For the instantaneous velocity of the body to be zero at the point [18 0 1], p v v total w Eq. 29 or: 0 17 0 = w p v Eq. 30 where v is the translational component, namely [0 17 0] w is the instantaneous angular velocity component, namely [1 0 1] and p is the locus of positions which satisfies Equation 30. Thus, we get an axis [1 0 1] ....

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Ohwovoriole, M.S.; and Roth, B., "An Extension of Screw Theory", ASME Journal of Mechanical Design, 103:725-735, 1981.

....contact relation [13] For achieving the aimed transitions, the recognition system needs to analyze the possible motion of a manipulated object. The possible motion is represented as non linear equations. By employing the screw theory, the possible motion can be approximated to linear equations [15], which makes the analysis much easier. 4.2 Features of a Possible Motion The previous APO system assigns the skills using features that consist of maintaining, detaching, and constraining DOF in translation [1] Fig. 8 (a) We extend the analysis by including other 3 DOFs in rotation: ....

B.Roth: "An Extension of Screw Theory," Journal of Mechanical Design, Vol.103, pp.725-735, 1981.

....fixturing elements, such as vises, toe clamps, or chucks. The theoretical justification for such an approach finds its roots in the dual role of fixtures: immobilizing a part and resisting the forces and torques involved in manufacturing tasks such as assembly or machining. Since screw theory [2, 22, 41] can be used to represented both displacements (twists) and forces and moments (wrenches) it is an appropriate tool for analyzing and designing fixtures. Indeed, it is known that six independent contact wrenches are necessary to prevent any infinitesimal displacement which maintains contact, and ....

.... which maintains contact, and that a seventh one is required to ensure that contact cannot be broken (these correspond to the positioning and clamping contacts introduced above) 24, 54] Such a fixture prevents any infinitesimal motion of the object, and it is said to achieve form closure [41, 47, 52]. A system of wrenches is said to achieve force closure when it can balance any external force and torque. Like wrenches and infinitesimal twists [51] force and form closure are dual notions and, as noted in [36, 39] for example, force closure implies form closure and vice versa. In ....

M.S. Ohwovoriole. An extension of screw theory. Journal of Mechanical Design, 103:725--735, 1981.

....exerted by the fingers should balance each other so as not to disturb the position of this object. We say that such a grasp achieves equilibrium. For the hand to hold the object securely, it should also be capable of preventing any motion due 1 to external forces and torques. Since screw theory [2, 13, 26] can be used to represented both displacements (twists) and forces and moments (wrenches) it is an appropriate tool for analyzing and synthesizing grasps. Indeed, it is known that six independent contact wrenches are necessary to prevent any infinitesimal displacement which maintains contact, and ....

.... independent contact wrenches are necessary to prevent any infinitesimal displacement which maintains contact, and that a seventh one is required to ensure that contact cannot be broken [14, 41] Such a grasp prevents any infinitesimal motion of the object, and it is said to achieve form closure [26, 34, 40]. A system of wrenches is said to achieve force closure when it can balance any external force and torque. Like wrenches and infinitesimal twists [39] force and form closure are dual notions and, as noted in [24, 25] for example, force closure implies form closure and vice versa. The notions of ....

[Article contains additional citation context not shown here]

M.S. Ohwovoriole. An extension of screw theory. Journal of Mechanical Design, 103:725--735, 1981.

....exerted by the fingers should balance each other so as not to disturb the position of this object. We say that such a grasp achieves equilibrium. For the hand to hold the object securely, it should also be capable of preventing any motion due to external forces and torques. Since screw theory [2, 19, 34] can be used to represented both displacements (twists) and forces and moments (wrenches) it is an appropriate tool for analyzing and synthesizing grasps. Indeed, it is known that six independent contact wrenches are necessary to prevent any infinitesimal displacement which maintains contact, and ....

.... independent contact wrenches are necessary to prevent any infinitesimal displacement which maintains contact, and that a seventh one is required to ensure that contact cannot be broken [21, 50] Such a grasp prevents any infinitesimal motion of the object, and it is said to achieve form closure [34, 42, 48]. A system of wrenches is said to achieve force closure when it can balance any external force and torque. Like wrenches and infinitesimal twists [47] force and form closure are dual notions and, as noted in [31, 32] for example, force closure implies form closure and vice versa. The notions of ....

[Article contains additional citation context not shown here]

M.S. Ohwovoriole. An extension of screw theory. Journal of Mechanical Design, 103:725--735, 1981.

....to equivalent finite sets of point plane contact constraint. For example, the contact between a convex edge e of one polyhedron and a face f of another polyhedron is equivalent to two point plane constraints, one at each end of the intersection segment of e and f . For more details, see [5] [12], 16] We therefore concentrate on point plane contact constraints. An infinitesimal motion 1X of a polyhedron P i can be described as a vector with three parameters for translation and three for rotation: 1X = 1x;1y; 1z; Omega x ; Omega y ; Omega z ) where Omega x ; Omega y ; ....

M.S. Ohwovoriole and B. Roth, An extension of screw theory, Trans. ASME, J. Mechanical Design 103 (1981), pp.725-735.

....In our case B is coupled with the finger bodies via a general surface contact, and may possibly be free to break contact with any of the fingers. The mobility of bodies in contact has heretofore been studied using first order theories that are based on notions of instantaneous force and velocity [5, 11, 22, 32]. For example, Ohwovoriole and Roth [22] describe the relative motions of bodies in contact in terms of Screw Theory, which is a first order theory. Using first order notions, Reuleaux (1876) 23] Somo# (1900) 30] Mishra et. al (1987) 20] and Markensco# et. al (1990) 13] derived bounds on ....

....a general surface contact, and may possibly be free to break contact with any of the fingers. The mobility of bodies in contact has heretofore been studied using first order theories that are based on notions of instantaneous force and velocity [5, 11, 22, 32] For example, Ohwovoriole and Roth [22] describe the relative motions of bodies in contact in terms of Screw Theory, which is a first order theory. Using first order notions, Reuleaux (1876) 23] Somo# (1900) 30] Mishra et. al (1987) 20] and Markensco# et. al (1990) 13] derived bounds on the number of frictionless point contacts ....

[Article contains additional citation context not shown here]

M. S. Ohwovoriole and B. Roth. An extension of screw theory. J. of Mechanical Design, 103:725--735, 1981.

.... Axis S 1 S 0 P pS 0 = S 0 P S 0 P s 1 t 4 s 2 t 5 s 3 t 6 s 4 t 1 s 5 t 2 s 6 t 3 0 = 14 Any screw T that can cause the detaching of object B from object A is called a repelling screw and is related to S by the inequality (4) as explained in [19]. 4) Thus the relation that defines the feasible set of legal motions which do not violate the contact (sliding and repelling) can be written as the inequality (5) 19] This is called the contact inequality. 5) The contact inequality can represent any contact between objects in 3D space. If ....

.... the detaching of object B from object A is called a repelling screw and is related to S by the inequality (4) as explained in [19] 4) Thus the relation that defines the feasible set of legal motions which do not violate the contact (sliding and repelling) can be written as the inequality (5) [19]. This is called the contact inequality. 5) The contact inequality can represent any contact between objects in 3D space. If we consider two bodies in contact in a plane as shown in Figure 8(a) then the screw representing the contact will be [s 1 , s 2 , 0, 0, 0, s 6 ] where s 1 =n x and s 2 ....

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Ohwovoriole, M.S. and Roth, B. An Extension of Screw Theory. Journal of Mechanical Design, Oct 1981

....bodies via a general roll slide contact, and may possibly be free to break contact with any of the fingers. The mobility of bodies in contact has heretofore been studied using first order theories that are based on notions of instantaneous force and velocity. For example, Ohwovoriole and Roth [12] describe the relative motions of bodies in contact in terms of Screw Theory, which is a first order theory. Using first order notions, Reuleaux (1876) 13] Somoff (1900) 19] Mishra et. al (1987) 11] and Markenscoff et. al (1990) 7] derived bounds on the number of frictionless point ....

M. S. Ohwovoriole and B. Roth. An extension of screw theory. J. of Mechanical Design, 103:725--735, 1981.

.... with respect to the surface are modelled by the Jacobian matrix J of this virtual contact manipulator; the contact force is then modelled by the reciprocal Jacobian matrix G: J and G are reciprocal if the power generated by any motion in the span of J against any force in the span of G vanishes, [12], i.e. G T J = 0. The mathematical representation of J and G depends on the grasp and environment uncertainties since there is no exact knowledge about the current contact point on either peg or environment. The grasping and environment uncertainties which are the sources of ....

M. S. Ohwovoriole and B. Roth. An extension of screw theory. Trans. ASME J. Mech. Design, 103(4):725--735, 1981.

....fixturing elements, such as vises, toe clamps, or chucks. The theoretical justification for such an approach finds its roots in the dual role of fixtures: immobilizing a part and resisting the forces and torques involved in manufacturing tasks such as assembly or machining. 1 Since screw theory [2, 22, 41] can be used to represented both displacements (twists) and forces and moments (wrenches) it is an appropriate tool for analyzing and designing fixtures. Indeed, it is known that six independent contact wrenches are necessary to prevent any infinitesimal displacement which maintains contact, and ....

.... which maintains contact, and that a seventh one is required to ensure that contact cannot be broken (these correspond to the positioning and clamping contacts introduced above) 24, 54] Such a fixture prevents any infinitesimal motion of the object, and it is said to achieve form closure [41, 47, 52]. A system of wrenches is said to achieve force closure when it can balance any external force and torque. Like wrenches and infinitesimal twists [51] force and form closure are dual notions and, as noted in [36, 39] for example, force closure implies form closure and vice versa. 2 In ....

M.S. Ohwovoriole. An extension of screw theory. Journal of Mechanical Design, 103:725--735, 1981.

....to disturb the position of this object. We say that such a grasp achieves equilibrium. For the hand to hold the object securely, it should also be capable of preventing any motion due to external forces and torques. This is captured by the dual notions of form and force closure from screw theory [6, 13, 18], that constitute the traditional theoretical basis for grasp planning (see, for example, 8, 10, 11, 12, 17] Recently, Rimon and Burdick have introduced the notion of second order immobility [20] and shown that certain equilibrium grasps of a part which do not achieve form closure effectively ....

M.S. Ohwovoriole. An extension of screw theory. Journal of Mechanical Design, 103:725--735, 1981.

....exerted by the fingers should balance each other so as not to disturb the position of this object. We say that such a grasp achieves equilibrium. For the hand to hold the object securely, it should also be capable of preventing any motion due to external forces and torques. Since screw theory [21] can be used to represented both displacements (twists) and forces and moments (wrenches) it is an appropriate tool for analyzing and synthesizing grasps. Indeed, it is known that six independent contact wrenches are necessary to prevent any infinitesimal displacement which maintains contact, and ....

.... independent contact wrenches are necessary to prevent any infinitesimal displacement which maintains contact, and that a seventh one is required to ensure that contact cannot be broken [11, 32] Such a grasp prevents any infinitesimal motion of the object, and it is said to achieve form closure [21, 27, 31]. A system of wrenches is said to achieve force closure when it can balance any external force and torque. Like wrenches and infinitesimal twists, force and form closure are dual notions and, as noted in [19, 20] for example, force closure implies form closure and vice versa. The notions of form ....

M.S. Ohwovoriole. An extension of screw theory. Journal of Mechanical Design, 103:725--735, 1981.

....our characterization of equilibrium grasps is based on the classification of certain varieties of lines in Grassmann geometry [8] 2.1 Screws, Twists and Wrenches We recall some elementary notions of screw theory. The following is largely based on Roth s excellent introduction [52] See [2, 4, 14, 31, 40, 41] for more details. A screw is a straight line with a pitch. The pitch is a linear magnitude that can be thought of as the rectilinear distance through which a nut attached to an ordinary screw is translated parallel to the screw axis while the nut is rotated through a unit angle [2] Screws ....

M.S. Ohwovoriole. An extension of screw theory. Journal of Mechanical Design, 103:725--735, 1981.

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Ohwovoriole, M. S. and Roth, B., 1981, An extension of screw theory, Transactions of the ASME, Journal of Mechanical Design, Vol. 103, No. 4, pp. 725--735.

No context found.

M. S. Ohwovoriole and B. Roth. An extension of screw theory. Trans. ASME J. Mech. Design, 103(4):725--735, 1981.

No context found.

Ohwovoriole, M. S. and Roth, B., 1981, An extension of screw theory, Transactions of the ASME, Journal of Mechanical Design, Vol. 103, No. 4, pp. 725--735.

No context found.

M. Ohwovoriole and B. Roth. An extension of screw theory. Transaction of ASME Journal of Mechanical Design, 103:725--735, 1981.

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M. S. Ohwovoriole and B. Roth : "An extension of screw theory," Journal of Mechanical Design, Vol. 103, pp. 725 -- 735, Oct. 1981.

No context found.

M. S. Ohwovoriole and B. Roth : "An extension of screw theory," Journal of Mechanical Design, Vol. 103, pp. 725 -- 735, Oct. 1981.

No context found.

M. S. Ohwovoriole and B. Roth, "An extension of screw theory," Trans. ASME J. Mech. Design, vol. 103, no. 4, pp. 725--735, 1981.

No context found.

M. S. Ohwovoriole and B. Roth, "An extension of screw theory," Trans. ASME J. Mech. Design, vol. 103, no. 4, pp. 725--735, 1981.

No context found.

M. Ohwovoriole and B. Roth. An extension of screw theory. Transaction of ASME Journal of Mechanical Design, 103:725--735, 1981.

No context found.

Ohwovoriole, M. and Roth, B., An extension of screw theory. Transaction of ASME Journal of Mechanical Design, 1981, 103, 725-735.

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M. S. Ohwovoriole and B. Roth. An extension of screw theory. J. of Mechanical Design, 103:725--735, 1981.

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