Computer-aided synthesis of higher pairs via configuration space manipulation

We describe a parametric synthesis algorithm for planar mechanical systems comprised of higher kinematic pairs in which each part lmnslates along a fixed axis or rotales around a fixed point. Kinematic function is computed from the CAD models of the parts and is represented graphically as configuration spaces. The designer uses the mouse to request changes in the configuration spaces. The progmm computes pammeler values that achieve lhc changes. The computation is ilerative: the program repeatedly linearizes the mapping from design parameters 10 kinematics around the currenl values, pseudo-inverts the linear mapping, and performs a small parameter modification thaL moves the system toward l1Je desired kinematics. Al each iteration, [he progrmn matches the current kinematics against the initial kinematics. If it detects an unintended change. it backs up. adds kinematic constraints lhat prevent the change. and resumes ileration.