{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:07:13Z","timestamp":1777716433143,"version":"3.51.4"},"reference-count":17,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1989,10,1]],"date-time":"1989-10-01T00:00:00Z","timestamp":623203200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1989,10]]},"abstract":"<jats:p>It is well known that there exist surfaces whose motion cannot be completely constrained by non-frictional contact forces. We give a new proof of the classification of these surfaces based on group theory. Having derived a simple character ization of these \"surfaces that cannot be gripped, \" we show that they are equivalent to the Reuleaux lower pairs. The proof emphasizes the symmetry of the surfaces rather than their analytic form. We also show that the screw system of such a surface is isomorphic to the Lie algebra of the surface's symmetry group.<\/jats:p>","DOI":"10.1177\/027836498900800508","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"79-87","source":"Crossref","is-referenced-by-count":15,"title":["Reuleaux Pairs and Surfaces That Cannot Be Gripped"],"prefix":"10.1177","volume":"8","author":[{"given":"J.M.","family":"Selig","sequence":"first","affiliation":[{"name":"Department of Electrical and Electronic Engineering Polytechnic of the South Bank London SE1 0AA, U.K."}]},{"given":"J.","family":"Rooney","sequence":"additional","affiliation":[{"name":"Centre for Configuration Studies Faculty of Technology The Open University Milton Keynes MK7 6AA, U.K."}]}],"member":"179","published-online":{"date-parts":[[1989,10,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-48819-1"},{"key":"atypb2","volume-title":"Vector and Tensor Analysis","author":"Brand, L.","year":"1947"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4684-0093-9"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(78)90017-4"},{"key":"atypb5","volume-title":"Publication del II Congreso Nacional sobre La Teoria de Maquinas y Mecanismos","author":"Herv\u00e9, J.M."},{"key":"atypb6","volume-title":"Space Kinematics and Lie Groups","author":"Karger, A.","year":"1985"},{"key":"atypb7","volume-title":"Proceedings of the Sixth World Congress on the Theory of Machines and Mechanisms","author":"Kerr, D.R."},{"key":"atypb8","volume-title":"Mechanics of Form Closure","author":"Lakshminarayana, K.","year":"1978"},{"key":"atypb9","volume-title":"Elementary Differential Geometry","author":"O'Neill, B.","year":"1966"},{"key":"atypb10","unstructured":"Popplestone, R.J. 1984. \"Group Theory and Robotics\" In Robotics Research, International Symposium Proceedings, eds. 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