Qualitative Kinematics of Linkages
نویسنده
چکیده
An important aspect of qualitative spatial reasoning is understanding mechanisms . This paper presents a qualitative analysis of motion for mechanical linkages . In particular, we describe how to analyze the behavior of a mechanism which has a movable axis . The basic idea of our approach is to represent relative motions of the link in terms of quadrants (qualitatively representing the direction relative to a global reference frame) and relative inclinations relative to the x-axis . Using this representation, we can derive all the possible motions of a system of linkages . This idea has been implemented and tested on several examples .
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