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TECHNICAL PAPERS

Extracting Articulation Models from CAD Models of Parts With Curved Surfaces

[+] Author and Article Information
Rajarishi Sinha

Institute for Complex Engineered Systems, Carnegie Mellon University, Pittsburgh, PA 15213e-mail: rsinha@cs.cmu.edu

Satyandra K. Gupta

Department of Mechanical Engineering and Institute for Systems Research, University of Maryland, College Park, MD 20742e-mail: skgupta@eng.umd.edu

Christiaan J. J. Paredis, Pradeep K. Khosla

Department of Electrical and Computer Engineering and Institute for Complex Engineered Systems, Carnegie Mellon University, Pittsburgh, PA 15213

J. Mech. Des 124(1), 106-114 (Apr 01, 2001) (9 pages) doi:10.1115/1.1434267 History: Received February 01, 1999; Revised April 01, 2001
Copyright © 2002 by ASME
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Figures

Grahic Jump Location
Non-penetration condition at a point. Planes 1 and 2 are coplanar but are shown as separated for clarity.
Grahic Jump Location
Non-penetration condition along a line. r⃗ is the position vector of an arbitrary point along the contact line between P1 and Q1. Planes 1 and 2 are coplanar but are shown as separated for clarity.
Grahic Jump Location
Non-penetration condition in a polygonal surface. r⃗ is the position vector of an arbitrary point within the polygon bounded by P1,Q1 and R1. Planes 1 and 2 are coplanar but are shown as separated for clarity.
Grahic Jump Location
Plane containing r⃗ also contains the normal vectors to r⃗
Grahic Jump Location
Contact graph for a 4-part assembly. Nodes represent the four parts. Edges represent the contacts. The contact surface that forms the intersection set is shown in each edge.
Grahic Jump Location
4-part assembly with 3 degrees of freedom
Grahic Jump Location
Formation of the Matrix Representation
Grahic Jump Location
Mapping feasible solutions to assembly joints

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