Contact analysis of spatial fixed-axes pairs using configuration spaces

Iddo Drori*, Leo Joskowicz, Elisha Sacks

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

5 Scopus citations


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.

Original languageAmerican English
Pages (from-to)578-584
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 1999
EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
Duration: 10 May 199915 May 1999


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