A Plane-Sweep Algorithm for Exact Simulation of a Quasi-Static Mechanical System of Compliantly-Connected Rigid Bodies (Extended Abstract)

Abstract

Automatic fastening (eg, snap fasteners) is a central theme in Computer Aided Design, manufacturing and design for assembly. Snap fasteners are non-rigid bodies, and hence predicting the motion of flexible objects during an assembly is of interest as an algorithmic problem. We consider a planar system of rigid bodies that are compliantly connected by torsional springs. A single root body undergoes pure translation, during which k passively rotationally compliant members called pawls can contact with immovable planar obstacles. As the motion proceeds, the pawls deform (deflect) around the obstacles in response to the kinetic constraints and the frictional contact forces. The pawls can also snap off an obstacle edge towards their zero position; this motion is modeled using a pure rotation. The simulation problem is to determine the motion of the pawls as parameterized by the translation distance of the root, and to compute the termination configuration of the system if it reachable.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1990
Accession Number
ADA231324

Entities

People

  • Bruce R. Donald
  • Dinesh K. Pai

Organizations

  • Cornell University

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Assembly
  • Collisions
  • Computational Complexity
  • Computer Science
  • Computers
  • Coordinate Systems
  • Differential Equations
  • Equations
  • Kinematics
  • Manufacturing
  • Mechanics
  • Motion Planning
  • Robotics
  • Simulations
  • Trajectories
  • Two Dimensional

Readers

  • Computer Vision.
  • Electrical Engineering
  • Structural Dynamics.