CPLfourbarlinkage

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - 4Bar/Linkages
Introduced first in SolidGeometry 4.4, Creation date: 2018-12-17, Last change: 2025-09-14

creates for a specified fourbar linkage the cpls for crank, coupler, swing

Description

Efficiently creates the contours for a solid geoemetry extrusion from simple point coordinates, taking into account the external dimensions and axis radii

See Also: fourBarLinkageplot , invkinplan2

Example Illustration

missing image of CPLfourbarlinkage(P1,P2,P3,P4,P5,R12,CPLX,dw)

Syntax

[CPL1,CPL2,CPLR,CPL,R12o,CPLX,TX,dt]=CPLfourbarlinkage([P1,P2,P3,P4,P5,R12,CPLX,dw])

Input Parameter

P1: Position of Crank Center
P2: Position of TCP (end of coupler)
P3: Position of link 1 (start of coupler)
P4: Position of Base of link 1 (2R robot base)
P5: Position of POI (0=P3 1= P2) or [POI delta x]
R12: Ro and Ri Outer and inner Radius
CPLX: Contour of the Shape linked to POI
dw: optional turing angle

Output Parameter

CPL1: CPL of swing, 2R-robot link 1
CPL2: CPL of coupler, 2R-robot link 2
CPLR: CPL of crank, radial position specification
CPL: complete contour for sweeping
R12o: [Ro and Ri] Outer and inner Radius
CPLX: CPL of Final Contour
TX: Final transformation matrix

Examples


CPLfourbarlinkage;
CPLfourbarlinkage('','','','',0.5);
CPLfourbarlinkage('','','','',-3);
CPLfourbarlinkage('','','','',[0.5 20]);
CPLfourbarlinkage('','','','',[0.5 20],'',CPLsample(34)*10);



Copyright 2018-2025 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

Last html export of this page out of FM database by TL: 2025-09-21