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GetLinkageDerivative

GetLinkageDerivative[linkage, {s, pos}, n]
returns the n-th translational and rotational derivative vector of "s" link. The reference point is defined by the pos vector, where pos is defined w.r.t. the LLRF of link "s".
GetLinkageDerivative[linkage, {s, mx}, n]
returns the n-th translational and rotational derivative vector of "s" link. The reference point is defined by the origin of the frame mx. The homogeneous matrix mx is defined w.r.t. the LLRF of link s.
GetLinkageDerivative[linkage, s]
returns the velocity and angular velocity vector of the origin of the LLRF of link s.
GetLinkageDerivative[linkage, s, n]
returns the n-th translational and rotational derivative vector of s link. The reference point is defined by the origin of the LLRF of link s.
  • The linkage must have $TimeDependentVariables record in order to call this function.
  • In case of time dependent linkage is created with NToTimeDependentLinkage function only the first derivative could be calulated.
  • The following options are defined:
SubstituteParametersFalseswitch on /off parameter substitution
EXAMPLESCLOSE ALL
Basic Examples   (1)
Load the LinkageDesigner package
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Load the pre-defined crank slider mechanism example linkage
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Calculate the time dependent linkage from crankSliderMechanism and set the resulted LinkageData to test.
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Calculate the position and velocity vector of the "Slider" link
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Plot the x coordinates of the position and translational velocity vector
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Display the displacement and the velocity graph of the "Slider" link together
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