LinkageDesigner Package Paclet SymbolSee Also »

CheckRedundantEquations

CheckRedundantEquations
is an option of DefineKinematicPair function. If this option is true the loop closing equations are generated by taking into account of the redundant constraint equations.
  • Redundant constraint equations are supposed to be automatically satisfied by the other loop cloosing constraints. In case of certain complicated mechanism definition, where the mechanism is working in a singular configuration, the redundant equations should be included in order ensure the correct calculatein in the whole range of the driving variables.
  • Loop closing equations become more complicated if redundant equations are also considered.
Load LinkageDesigner package
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The benett mechanism should satisfy the following constraint between the angle of the joint axes and the length of the consecutive links
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Define benett mechanism using the redundant equations (linkage1)
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Animating the mechanism one can see that the solution of the constraint equation are correct in the whole range of the driving variable
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Define benett mechanism not using the redundant equations (linkage2)
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Animating the mechanism one can see that the solution of the constraint equation are correct only in certain range of the driving variable
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Compare the constarint equations of linkage1 and linkage2
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