Shape Modification of Planar Components to Avoid Collision

Based on analyzing the characteristics of planar mechanism,shape modification methods for arbitrary planar components are presented.The motion of complex planar mechanism can be regarded as the synthesis of a series of rotational motion round the points of relative turning centroid,and the envelope of swept area is constructed by connecting the periphery of simple circles with segments of the outer boundary of moving components.Idea of unsweep is discussed and the algorithms of generating unsweep area boundary to modify the shape of planar components are outlined.