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Extracting Articulation Models from CAD Models of Parts With Curved Surfaces



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Rajarishi Sinha ASME Student Mem Institute for Complex Engineered Systems Carnegie Mellon University Pittsburgh PA 15213 e mail rsinha cs cmu edu Satyandra K Gupta ASME Mem Department of Mechanical Engineering and Institute for Systems Research University of Maryland College Park MD 20742 e mail skgupta eng umd edu Christiaan J J Paredis ASME Mem e mail cjp cs cmu edu Pradeep K Khosla ASME Mem e mail pkk cs cmu edu Department of Electrical and Computer Engineering and Institute for Complex Engineered Systems Carnegie Mellon University Pittsburgh PA 15213 1 Extracting Articulation Models from CAD Models of Parts With Curved Surfaces In an assembly degrees of freedom are realized by creating mating features that permit relative motion between parts In complex assemblies interactions between individual degrees of freedom may result in a behavior different from the intended behavior In addition current methods perform assembly reasoning by approximating curved surfaces as piecewise linear surfaces Therefore it is important to be able to reason about assemblies using exact representations of curved surfaces verify global motion behavior of parts in the assembly and create motion simulations of the assembly by examination of the geometry and material properties In this paper we present a linear algebraic constraint method to automatically construct the space of allowed instantaneous motions of an assembly from the geometry of its constituent parts Our work builds on previous work on linear contact mechanics and curved surface contact mechanics We enumerate the conditions under which general curved surfaces can be represented using a finite number of constraints that are linear in the instantaneous velocities We compose such constraints to build a space of allowed instantaneous velocities for the assembly The space is then described as a set theoretic sum of contact preserving and contact breaking subspaces Analysis of each subspace provides feedback to the designer which



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