A1ofA1B1GPLPose
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - 4Bar/Linkages
Introduced first in SolidGeometry 5.1, Creation date: 2022-01-01, Last change: 2025-09-15
returns the list of the crank attachment points for poses
Description
Used in 3 Pose syntheses in fourBarposesyntheses
See Also: fourBarposesyntheses
Example Illustration
Syntax
A1L=A1ofA1B1GPLPose(A1,B1,GPLA,GPLB,TT)
Input Parameter
A1: | | Single A1 of a fourbar linkage |
B1: | | Single B1 of a fourbar linkage |
GPLA: | | A1 relative to Pose |
GPLB: | | B1 relative to Pose |
TT: | | List of Poses |
Output Parameter
A1L: | | Attachment Point position for the Poses |
Copyright 2022-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth
Algorithm (Workflow)
This function calculates the attachment point positions for a four-bar linkage given a set of poses. It is part of the SG-Library and is used in kinematics and frame calculations.
Input Parameters
- A1: A single point A1 of a four-bar linkage.
- B1: A single point B1 of a four-bar linkage.
- GPLA: A1 relative to a pose.
- GPLB: B1 relative to a pose.
- TT: A list of poses, represented as transformation matrices.
Output
- A1L: The calculated attachment point positions for the given poses.
Algorithm Steps
- Call the function
TofA1B1GPL with parameters A1, B1, GPLA, and GPLB to obtain transformation matrices TP and TA.
- Calculate the relative transformation
TR by solving the equation TP \ TA.
- Determine the number of poses
n from the third dimension of TT.
- Initialize
A1L as an n by 2 matrix filled with NaN values to store the results.
- Iterate over each pose
i from 1 to n:
- Calculate the transformed attachment point
TA1 by multiplying the i-th pose matrix TT(:,:,i) with TR.
- Extract the first two elements of the third column of
TA1 and store them in the i-th row of A1L.
Algorithm explaination created using ChatGPT on 2025-08-18 23:26. (Please note: No guarantee for the correctness of this explanation)
Last html export of this page out of FM database by TL: 2025-09-21