The design of shape interactions using motion constraints

In this paper we examine an approach to the visualization, analysis and design of functional shape interactions represented as motion constraints in configuration space. A graphical constraint representation, together with a set of computational tools we have developed, permits a designer to visualize and directly manipulate motion constraints in order to achieve desired functional properties. The resulting system has been implemented and applied to the analysis and design of a set of orienting, fixturing and assembly devices for the automated assembly of planar parts