Motion Space of Contacting Smooth Curves in Plane Using Screw Derivative

  • K. Rama KrishnaEmail author
  • Dibakar Sen
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


In this paper, the proposed formulation of the single contact motion space analysis using screws and differential screws, shows that only the geometric kinematical properties affect the second-order motion space characteristics w.r.t. a contact. The classical Eulery-Savary equation derived through the present approach established its necessity and sufficiency for the second-order roll-slide motion. Geometrical interpretations of the motion space of curves in a point contact help in defining composition rules for analyzing the cases with multiple contacts. The theory is illustrated through two examples.


Freedom analysis Curvature theory Form-closure 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Indian Institute of Technology DelhiNew DelhiIndia
  2. 2.Indian Institute of ScienceBangaloreIndia

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