Configuration space computation for mechanism design

Leo Joskowicz*, Elisha Sacks

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

18 Scopus citations


We describe the HIPAIR configuration space computation program for higher pairs and show how it automates reasoning about shape and motion for mechanism design. We describe an interactive parametric design module that combines configuration space computation with differential constraint satisfaction. HIPAIR handles pairs of 2.5D parts with two degrees of freedom, including pairs with intermittent, simultaneous, and degenerate contacts. This class contains 90% of 2.5D pairs and 80% of all higher pairs according to our survey of 2500 mechanisms. We have tested HIPAIR on over 100 pairs, including gears, cams, ratchets, and escapements. It analyzes pairs with thousands of contacts in under ten seconds. The configuration spaces encode the relations among part shapes, part motions, and overall behavior in a concise, complete, and explicit format. They help designers analyze part interactions, implement functions, identify failure modes, and modify designs.

Original languageAmerican English
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Number of pages8
Editionpt 2
ISBN (Print)0818653329
StatePublished - 1994
Externally publishedYes
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation - San Diego, CA, USA
Duration: 8 May 199413 May 1994

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 2
ISSN (Print)1050-4729


ConferenceProceedings of the 1994 IEEE International Conference on Robotics and Automation
CitySan Diego, CA, USA


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