Abstract:
We present the first configuration space computation algorithm
for pairs of rigid parts that move along fixed spatial
axes. The motivation is contact analysis for mechanical
design of spatial systems and of planar systems with axis
misalignment. The part geometry is specified in a parametric
boundary representation using planes, cylinders, and
spheres. Our strategy is to exploit the specialized part geometry
and the two-dimensional structure of the configuration
space to: (1) derive low-degree algebraic contact equations
in the two part motion parameters, which can readily
be solved to obtain contact curves, and (2) to use a practical
planar configuration space construction algorithm. We
demonstrate a preliminary implementation on three representative
pairs, none of which is covered by other contact
analysis algorithms. We show how the program is used in
answering design questions.
@inproceedings{Drori99CSpace,
author = {Iddo Drori and Leo Joskowicz and Elisha Sacks},
title = {Contact Analysis of Spatial Fixed-Axes Pairs Using Configuration Spaces},
booktitle = {IEEE International Conference on Robotics and Automation},
pages = {578--584},
year = {1999}
}