Computational kinematic analysis of higher pairs with multiple contacts

E. Sacks, L. Joskowicz

Research output: Contribution to journalArticlepeer-review

35 Scopus citations


We present a computational kinematic theory of higher pairs with multiple contacts, including simultaneous contacts, intermittent contacts, and changing contacts. The theory systematizes single- and multiple-contact kinematic analysis by mapping it into geometric computation in configuration space. It derives the contact conditions, contact functions, and relations between contacts from the shapes and degrees of freedom of the parts. It helps identify common design flaws, such as undercutting, interference, and jamming, that cannot be systematically identified with current methods. We describe a program for the most common pairs: planar higher pairs with two degrees of freedom.

Original languageAmerican English
Pages (from-to)269-277
Number of pages9
JournalJournal of Mechanical Design, Transactions Of the ASME
Issue number2A
StatePublished - Jun 1995
Externally publishedYes


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