The book Solving Geometric Constraint Systems: A Case Study in Kinematics by Glenn Kramer describes research in automating the analysis of mechanisms. The purpose of mechanism analysis is to answer qualitative and quantitative questions about the workings of complex mechanisms, such as gearboxes, robot arms, and vehicle suspensions. Mechanism analysis plays an essential role in design, validation, cataloging, and other mechanical engineering tasks. Automating the analysis benefits mechanical engineering by increasing the productivity of designers, provides artificial intelligence with a computational theory of engineering expertise, and facilitates design automation.
1. Linkages
Kramer studies an important type of mechanism, called a linkage, that consists of rigid bars connected by permanent joints. There are six types of joints, which represent all possible contacts between two surfaces. The most common are a hinge, a piston, and a ball in a socket. Each joint type constrains the attached bars to move in a simple manner. For example, bars connected by a hinge rotate around a common axis. Every linkage has a special bar, called