Dynamical simulation of assemblies of planar, 1dof parts with changing contacts using configuration spaces

Elisha Sacks*, Leo Joskowicz

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

1 Scopus citations

Abstract

We present an algorithm for dynamical simulation of rigid-body mechanical systems with changing Contact topologies based on configuration spaces. The algorithm advances the state of the art in contact analysis, which is the main bottleneck in dynamical simulation. The task is to identify the touching parts and to compute the ensuing contact forces. Our algorithm computes the configuration spaces of all pairs of parts and uses them as contact models. It overcomes the limitations of mechanical systems simulators, which require precomputed contact models, and of general-body simulators, which perform contact analysis on the part models at every time step. Neither approach is practical for mechanisms with multiple contacts and complex contact geometry, such as clock escapements, chain gears, and part feeders. We describe a configuration space simulator for assemblies of planar parts with one degree of freedom apiece and demonstrate it on two mechanisms with many complex contacts.

Original languageAmerican English
Pages (from-to)1972-1979
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - 1997
Externally publishedYes
EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
Duration: 20 Apr 199725 Apr 1997

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