Kinematic Transformation Matrices for 3D Surface Contact Joints

[+] Author and Article Information
L. J. Gutkowski

Hewlett-Packard, 16399 West Bernardo Drive, San Diego, CA 92127

G. L. Kinzel

Department of Mechanical Engineering, The Ohio State University, Columbus, OH

J. Mech. Des 117(2A), 278-285 (Jun 01, 1995) (8 pages) doi:10.1115/1.2826135 History: Received August 01, 1992; Revised September 01, 1994; Online December 11, 2007


A generalized procedure is presented for the development of a pair matrix that describes kinematic joints formed by contact between three-dimensional surfaces. The pair matrix is useful in the matrix-based kinematic analysis procedure put forth by Sheth and Uicker (1971) previously. Any two surfaces may make up the joint as long as the surfaces can be described parametrically, and contact takes place at one point. The corresponding pair matrix is a function of five pair variables.

Copyright © 1995 by The American Society of Mechanical Engineers
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