LinkageDesigner Package Paclet SymbolSee Also »|More About »

$LDStructure

Record identifier of LinkageData. It stores the list of kinematic pair definition of the linkage. Every sublist of $LDStructure record stores the following information {str,{kinematicpair,inversekinematicpair}}
  • kinematicpair is a list with the following template {{name1,name2},mx}. name1 is the name of the lower link, name2 is the upper link and mx is a homogeneous transformation matrix. mx matrix transforms the LLRF of name2 link to the LLRF of the name1 link.
  • inversekinematicpair is a list with the following template {{name2,name1},invmx}. name1 is the name of the lower link, name2 is the upper link and invmx is a homogeneous transformation matrix. invmx matrix transforms the LLRF of name1 link to the LLRF of the name2 link.
  • invmx is the inverse of mx
  • If a kinematic pair is a loop closing constraint, mx and invmx are replaced with $Loop constant.
EXAMPLESCLOSE ALL
Basic Examples   (1)
Load LinkageDesigner package
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Load the predefined crank-slider linkages
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Display the linkage and it's kinematic graph
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Retrieve the $LDStructure record
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Retrieve the "RotationalJoint-2" sub-record $LDStructure record
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