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DefineKinematicPairTo[linkage, "jType", jvars, {"link1", mx1}, {"link2", mx2}] defines a jType kinematic pair between link1 and link2 based on the Out-of-Place scenario. The joint markers are specified with mx1 and mx2 respectively. This kinematic pair is appended to linkage. |
DefineKinematicPairTo[linkage, "jType", jvars, {"link1", LLRF1}, {"link2", LLRF2}, jointmx] defines a jType kinematic pair between link1 and link2 based on the In-Place scenario. The joint marker is specified with jointmx. This kinematic pair is appended to linkage . |
DefineKinematicPairTo[linkage, "jType", {"link1", "link2"}, {a, d, , }] defines a jType kinematic pair between link1 and link2 based on the Denavith-Hartenberg scenario. {a, d, , } are the Denavith-Hartenberg parameters. This kinematic pair is appended to linkage. |