CPLfourbarlinkage2
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - 4Bar/Linkages
Introduced first in SolidGeometry 4.4, Creation date: 2019-01-22, Last change: 2025-09-14
creates for a specified fourbar linkage the cpls for crank, coupler, swing
Description
The same function as the original of 2018-12-17 but in this version P5 has the definition from k=0 means P2 and k=norm(P3-P2) means P2 and the dimension is in millimeter. Therfore P5 is completely defined in a mm coordinate system realative to the coupler point P2
1. Create Poses as List of Startpoints A and Endpoints B uses Posesample or Poseui:
>> PS=Poseui(3,.2); SGfigure; Poseplot(PS);
>> PS.A=[-0.00 0.00; 0.00 1.00; 1.00 3.00]; PS.B=[ 1.00 0.00; 1.00 1.00; 1.71 2.29];
2. Calculate a set of parameter variations for possible Solutions:
>> center3Pose(PS.A,PS.B,-20:20,-20:5:20,-3:.2:3); S=ans; whos C;
3. Calculate and analyze all possible permutations of the parameter variation:
>> checkfourbar3Posepermutation(PS.A,PS.B,S); FP=ans;
4. Limit the Solution to your needs by limiting the permutations, for example
FULL ROTATION 'u',0 DIMENSION 'l1l2rd',[5 8]
checkfourbar3Posepermutation(PS.A,PS.B,FP,'','u',0,'l1l2rd',[2 4]);
OR FULL ROTATION 'u',0 BASES INSIDE AN AREA
checkfourbar3Posepermutation(PS.A,PS.B,FP,'','cpl',PLcircle(2)+[3 3],'l1l2rd',[0 3]);
See Also: fourBarLinkageplot
, invkinplan2
, CPLfourbarlinkage
, center3Pose
, checkfourbar3Posepermutation
Example Illustration
Syntax
[CPL1,CPL2,CPLR,CPL,R12,CPLX,TX,dt]=CPLfourbarlinkage2([P1,P2,P3,P4,P5,R12,CPLX,dw])
Input Parameter
P1: | | A0 Position of Crank Center |
P2: | | A1 Position of TCP (end of coupler) |
P3: | | B1 Position of link 1 (start of coupler) |
P4: | | B0 Position of Base of link 1 (2R robot base) |
P5: | | C0 Position of POI in mm or [POI delta x] |
R12: | | Ro and Ri Outer and inner Radius |
CPLX: | | Contour of the Shape linked to POI |
dw: | | turning 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 |
R12: | | [Ro and Ri] Outer and inner Radius |
CPLX: | | CPL of Final Contour |
TX: | | Final transformation matrix |
Examples
CPLfourbarlinkage2('','','','',20);
CPLfourbarlinkage2('','','','',0);
CPLfourbarlinkage2('','','','',-40);
CPLfourbarlinkage2('','','','',+80);
CPLfourbarlinkage2('','','','',[+20 20]);
CPLfourbarlinkage2('','','','',[+20 20],'',CPLsample(34)*10);
Copyright 2019-2025 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