SwitchJointDirectionTo

SwitchJointDirectionTo[linkage, str]
switches the direction of the joint defined in str $LDLowOrderJoint record.
SwitchJointDirectionTo[linkage, {str1, str2...}]
switches the direction of the joints defined in {str1, str2...} $LDLowOrderJoint records.
SwitchJointDirectionTo[linkage, var]
switches the direction of the joint defined by var symbol.
SwitchJointDirectionTo[linkage, {var1, ..}]
switches the direction of joints defined by {var1,..} symbols.
  • The updated records are stored in the input LinkageData database. The function returns the input LinkageData.
  • The function rotates of the joint marker to the opposite direction, which changes direction the positive rotational and translational direction.
  • Posture of the linkage before and after switching the joint direction.
  • Only those joint direction can be changed whose joint variable is independent DrivingVariable.
Load LinkageDesigner package
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Load the manipulator linkage
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Set the driving variables 1 to 45°
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Display the linkage in the actual posture
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Switch the direction of the joint marker corresponding to 1 variable
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After switching the joint direction the value of the joint variable 1 does not change, it remains 45°. Since the positive rotational direction is changed, therefore the posture of the linkage will be mirrored w.r.t posture of 1->0.
Display the linkage in the actual posture
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