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DefLinkGeometryTo

DefLinkGeometryTo[linkage,type]
assigns simplified skeleton geometry to every links of linkage. The skeleton geometries are determined by the center points of the joint markers. Possible values of type are {"Line", "Shape", None}.
  • The function define geometry primitives through the joint centers related to every link.
  • In case type is defined as "Line" and the number of points < 3, than points are connected by line. If the number of points > 2 the points are connected by polygon
  • If type is "Shape" the geometry is generated using LinkShape2D primitive
  • If a link has only one joint marker assigned, than no geometry is generated.
  • In order to force the geometry definition fixed joint could be added to these links.
Load the LinkageDesigner package
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Define a 3R robot
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DefineLinkage function calls by default DefLinkGeometryTo function with "Line" type geometries. Display the linkage.
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Redefine the geometries with "Shape" type geometries
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Display the resulted linkage
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