On the spatial motion of a rigid body with line contact

A study is made of the so-called slide motions between developable ruled surfaces with the line contact under spatial motion. In particular, the authors consider instantaneous time-based kinematics, which includes the contact speeds and rates of change along reference curves on the surfaces, the velocity, acceleration, and jerk of a reference point on the moving surface, and the constraints on the angular velocity and angular acceleration for maintaining line contact. The derived kinematic relationships can be applied to robotic path planning and actual motion calculations in the presence of a tactile sensor to measure the relative motion at the contact line