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# R2

 R2[i->j, pi, pj]function defines the input arguments of DefineKinematicPair function for planar rotational joint definition.
• The kinematic pair is defined between i and j links where i and j are integers or strings.
• If i (j) is integer the link name is generated as "linki" ("linkj") respectively.
• The position of the joint markers are defined with pi and pj.
• If pi is defined as one number ( e.g. 3) its resolved to {3,0,0}, which means that the joint markers origin is placed to the {3,0,0} point w.r.t to LLRF of linki.
• If pi is defined as list of two number ( e.g. {3,2}) its resolved to {3,2,0}, which means that the joint markers origin is placed to the {3,2,0} point w.r.t to LLRF of linki.
• The joint's axis is always perpendicular to the plane and collinear with z-axis.
• R2 function is a utility function that simplifies the kinematic pair definition process.
• The following options can be given:
 JointVariable Automatic specifies the symbol of the joint variable. JointName Automatic specifies the name of the kinematic pair. JointLimits Automatic defines the validity domain of the joint variable(s). JointPose Automatic defines the offset value(s) of the joint variable(s). Parameters {} List of the simple parameters used in the kinematic pair's definition ( e.g {l0→10,l1→3} ). CandidateLoopVariables Automatic List of driving variable that will be used as loop variables in case of loop closing kinematic pair definition. WorkingPrecision MachinePrecision WorkingPrecision is an option for various numerical operations which specifies how many digits of precision should be maintained in internal computations. AccuracyGoal Automatic AccuracyGoal is an option for various numerical operations which specifies how many effective digits of accuracy should be sought in the final result. MaxIterations Automatic MaxIterations is an option that specifies the maximum number of iterations that should be tried in various built-in functions and algorithms.
Load the LinkageDesigner package
 In:=
Define the following a rotational joint between link0 and link1 by joining C1 and C2 point
The joint on link0 is placed into C1 point. The coordinate of C1 is {7,0} w.r.t local reference frame.
The joint on link1 is placed into C2 point. The coordinate of C2 is {8,0} w.r.t local reference frame.
Calculate the arguments of the kinematic pair definition
 In:=
 Out= Define the linkage
 In:=
 Out= Show the kinematic graph of the linkage
 In:=
 Out= Display the mechanism together with its joint markers
 In:=
 Out= • DefineKinematicPair T2 F2 R3 T3 F3 S3 U3 C3 P3  