Kinematic tolerance analysis

Leo Joskowicz*, Elisha Sacks, Srinivasan Vijay

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

10 Scopus citations


We present a general method for worst-case limit kinematic tolerance analysis that covers fixed and changing contact mechanisms with parametric or geometric part tolerances. The method computes the variation in the kinematic function of mechanisms resulting from manufacturing variation in the shapes and configurations of their parts. We develop a new model of kinematic variation, called kinematic tolerance space, that generalizes the configuration space representation of nominal kinematics function. Kinematic tolerance space captures quantitative and qualitative variations in kinematic function due to variations in part shape and part configuration. We derive topological properties of kinematic tolerance space that express the relationship between the nominal kinematics of mechanisms and their kinematic variations. Using these properties, we develop a practical kinematic tolerance space computation algorithm for planar pairs with two degrees of freedom and for assemblies of such pairs with independent part tolerances.

Original languageAmerican English
Number of pages8
StatePublished - 1995
Externally publishedYes
EventProceedings of the 3rd Symposium on Solid Modeling and Applications - Salt Lake City, UT, USA
Duration: 17 May 199519 May 1995


ConferenceProceedings of the 3rd Symposium on Solid Modeling and Applications
CitySalt Lake City, UT, USA

Bibliographical note

Funding Information:
A preliminary version of this paper appears in the Proceedings of the Third Symposium on Solid Modeling and Applications, 1995. M. Jakiela and R. Gupta of the MIT Mechanical Engineering Department provided preliminary parametric models of the camera parts. Elisha Sacks is supported in part by NSF grant CCR-9505745 from the CISE programme in numeric, symbolic, and geometric computation.


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