DefineKinematicPairTo

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.
  • DefineKinematicPairTo is equivalent with DefineKinematicPair function except that this function reassign the resulted LinkageData to the linkage variable passed in the first argument of the function.
Load LinkageDesigner package
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Create LinkageData
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Display the LinkageData database of t1 linkage
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Define a rotational joint
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Display the LinkageData database of t1 linkage
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