A Connguration Space Analysis of Bodies in Contact| Part Ii: 2 Nd Order Mobility
نویسندگان
چکیده
Using a con guration space approach, this paper develops a 2nd order mobility theory for a body, B, in frictionless quasi-static contact with rigid stationary bodies A1; ;Ad. This analysis ultimately leads to a coordinate invariant 2nd order mobility index, an integer that captures the inherent mobility of B in an equilibrium grasp. The 2nd order index di erentiates between grasps which are deemed equivalent by 1st order, or instantaneous, theories, but are physically di erent. We further show that 2nd order e ects can be used to lower the e ective mobility of an equilibrium grasp, and hence can be used to prove new lower bounds on the number of contacting bodies needed to immobilize an object.
منابع مشابه
Mobility of Bodies in Contact—Part I: A 2nd-Order Mobility Index for Multiple-Finger Grasps
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