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GetLLRFMatrix

GetLLRFMatrix[linkage, linki]
returns the homogeneous transformation matrix, that transform linki's LLRF to the reference coordinate system.
  • The reference coordinate system is defined with the ReferenceFrame option. By default it is the LLRF of the Ground link.
  • The reference coordinate system is the LLRF of the reference link.
optiondefault valuedescription
ReferenceFrame"Ground"Defines the reference link' s name (either with full name or stripped name)
SubstituteParametersFalseSpecifies whether the parameters of the linkage to be substituted
SubstitutionList{}Specifies the precalculated parameter substitution list to be used instead of the actual parameter values
EXAMPLESCLOSE ALL
Basic Examples   (1)
Load LinkageDesigner package
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Load the predefined piston linkage
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Here are the links of the crank-slider linkage
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Out[3]=
Get the transformation matrix, which transforms the "Crank" link's LLRF to the "Slider" link's LLRF
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Out[4]//MatrixForm=
Get the transformation matrix, which transforms the "Slider" link's LLRF to the "Crank" link's LLRF
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Out[5]//MatrixForm=
The two matrix are the inverse of each other.
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Out[6]//MatrixForm=
Get the transformation matrix of the "Slider" link w.r.t "Crank" with SubstituteParameters→True options
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Out[7]//MatrixForm=