The method of cut-joint kinematic constraint: Velocity propagations

Karim Abdel-Malek, Jingzhou Yang

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


Based on a recent formulation for parametric design of mechanical systems using kinematic analysis, we reported an approach to automated design by converting mechanical part geometry into a mechanism by breaking the part into sub-parts attached by higher pair joints. In order to evaluate the performance of a mechanism where a design change has been introduced into one of its links, we extend the formulation in this paper to address the propagation of this change and its effect on the velocity of other members. This analysis will limit itself to mechanisms. Velocity propagations due to modifications in the design of a mechanical part are analytically addressed using a proposed working coordinates formulation based on the cut-joint kinematic constraint method (presented earlier). Velocity vectors in state-vector notation are derived and treated as variables such that propagations of working coordinates of a link are obtained with respect to position and orientation. The underlying theory is presented and several planar and spatial mechanisms are treated.

Original languageEnglish
Pages (from-to)815-824
Number of pages10
JournalInternational Journal of Advanced Manufacturing Technology
Issue number7-8
StatePublished - Jan 2007


  • Automatic computer-aided-design
  • Design propagation
  • Velocity analysis


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