PlaceLinkage

PlaceLinkage[linkage, mx]
Sets the transformation matrix between Ground and Workbench link to mx homogeneous matrix.
PlaceLinkage[linkage, vec]
Sets the transformation matrix between Ground and Workbench link to MakeHomogenousMatrix[vec] homogeneous matrix.
PlaceLinkage[linkage]
Recalculates the $LDLinkGroundTransformation matrices.
  • PlaceLinkage changes the transformation matrix of the WorkBench-Ground transformation in $LDStructure record.
  • mx is a 4 x4 homogeneous transformation matrix, that represent the new placement of WorkBench 's LLRF with respect to the Ground.
optiondefault valuedescription
AppendLinkGroundTransformationTrueIf true re-calculate and inserts the $LinkGroundTransformation record to the linkage.
AbsolutePlacementTrueIn case of True the placement transformation replaces the old Ground-Workbench transformation.In case of False they are multiplied.
  • The pre-calculation of the $LinkGroundTransformation record speeds-up the animation in case of reasonable number of parameters (~20)
Load the LinkageDesigner package
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Load the predefined crank-slider mechanism
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Redefine the geometry of link0 link. Create a line defining the direction of the translational joint
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Rename and set the crank-slider mechanism to linkage1 and linkage2 variables.
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mx1 will rotates the WorkBench of linkage1 around the z-axis with 45° and translates along with 5 units.
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mx2 will rotates the WorkBench of linkage2 around the z-axis with -45° and translates along with -5 units.
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Display the original and the two placed linkage
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