PuzzleFlex: kinematic motion of chains with loose joints
Samuel Lensgraf,Karim Itani,Yinan Zhang,Zezhou Sun,Yijia Wu,Alberto Quattrini Li,Bo Zhu,Emily Whiting,Weifu Wang,Devin Balkcom,Samuel Lensgraf,Karim Itani,Yinan Zhang,Zezhou Sun,Yijia Wu,Alberto Quattrini Li,Bo Zhu,Emily Whiting,Weifu Wang,Devin Balkcom
This paper presents a method of computing free motions of a planar assembly of rigid bodies connected by loose joints. Joints are modeled using local distance constraints, which are then linearized with respect to configuration space velocities, yielding a linear programming formulation that allows analysis of systems with thousands of rigid bodies. Potential applications include analysis of colle...
