Kinematic Reasoning with Spatial Decompositions

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    This paper examines the application of hierarchical discrete spatial representations to the kinematic analysis and synthesis of the higher pairs. Two instances of hierarchical representation are investigated, a global decomposition in the form of quadtrees, and an object-centered, multi-level molecular decomposition. Kinematic reasoning with both representations relies upon the rapid evaluation of the single occupancy constraint. For both representations we present algorithms that allow the rapid detection of intersection between two objects, the analysis of higher pair mechanisms, and a restricted class of kinematic synthesis.

    Original languageEnglish
    Pages (from-to)227-237
    Number of pages11
    Issue number2-3
    Publication statusPublished - 1 Dec 1998


    • Kinematic reasoning
    • Quadtrees
    • Spatial decomposition
    • Spatial representation

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