Recognising tangent directions of the freedom for the joint with multi-point quadric contacts

ABSTRACT

Tracking the trajectory of a moving body is one of key issues for a multiple freedom motion joint with multi-point surface contacts. In general, the tangent space of the motion can be determined by using the contact relation of the screw theory, but it is difficult to determine which vector in the tangent space represents the tangent vector of motion joint’s freedom. This is because the tangent space is a linear space generated by the tangent vector of the motion joint, which includes more elements than actual tangent vectors. Then, a second-order interference detection approach is presented to identify the tangent vector of the freedom in the motion tangent space. And recognised tangent directions can be introduced to track adjacent contact states in 3D assembly models, which support the direct creation of the configuration space of a 3D assembly model.

KEYWORDS:

• Theory of screws
• assembly
• contact
• joint recognition

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by the Natural Science Foundation of Hubei Province(CN) [2019CFB693].

Notes on contributors

Songqiao Tao

Songqiao Tao is currently a professor at the school of IntelligentManufacture,Wuhan Technical College of Communications, China. He received Ph.D. degree in mechanical engineering from Huazhong University of Science and Technology, China in 2012. His current research interests include: 3D model retrieval, geometry modeling and engineering optimization.

Huajin Tao

Huajin Tao is currently an undergraduate student at the Faculty of Physics and Electronic Science, Hubei University, China. His current research interests include: engineering optimization, electronic circuit design and simulation.

Weirui Kang

Weirui Kang is currently a doctoral candidate at the School of Mechanical Science and Engineering, Huazhong University of Science and Technology, China. His current research interests include: geometry modeling and engineering optimization.