A Qualitative Approach to Mechanical Constraint

Paul Nielsen

This paper provides a qualitative analysis of instantaneous, constrained motions in rigid bodies. We develop a symbolic spatial representation to describe the effects of configuration on the dynamic behavior of rigid objects. We also explore the way symbolic shape information may be used to reason about force transmission. This information may be used to provide a static analysis for a given configuration and is an important component of the calculation of behavioral transitions when envisioning device behavior. All results are based on an implementation.

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