同时解决了曲面法矢垂直于回转平面时刀轴矢量难以确定的关键问题。

Also, a solution is offered to solve the problem of generating tool axis vector when the surface normal ts perpendicular to rotary plane.

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将扫描体与复杂曲面法矢的求交问题，转化为三角网格与有向线段之间的求交计算。

The intersection of sweep volume with complicated surface normal is transformed into computation of intersection between triangular mesh and directed line segment.

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本文分析了手模型及其虚拟环境下物体的操作方法，提出了点接触平面法矢的手握持抓取方法。

This paper analyzes hand operating method based on the analysis of hand structure under virtual environment.

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