Qualitative Kinematics of Linkages

Abstract

An important aspect of qualitative spatial reasoning is understanding mechanisms. This paper presents a qualitative analysis of motion for mechanical linkages. In particular, we describe how to analyze the behavior of a mechanism which has a movable axis. The basic idea of our approach is to represent relative motions of the link in terms of quadrants (qualitatively representing the direction relative to a global reference frame) and relative inclinations relative to the x-axis. Using this representation ; we can derive all the possible motions of a system of linkages. This idea has been implemented and tested on several examples.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1990
Accession Number
ADA466423

Entities

People

  • Hyun-kyung Kim

Organizations

  • University of Illinois Urbana–Champaign

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Ambiguity
  • Arithmetic
  • Cartesian Coordinates
  • Computer Science
  • Coordinate Systems
  • Dynamics
  • Geometry
  • Inequalities
  • Internal Combustion Engines
  • Kinematics
  • Polygons
  • Quadrants
  • Relative Motion
  • Rods
  • Three Dimensional
  • Triangles
  • Two Dimensional

Readers

  • Artificial Intelligence
  • Control Systems Engineering.