PLofPosecouplercurve
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - 4Bar/Linkages
Introduced first in SolidGeometry 4.5, Creation date: 2019-03-09, Last change: 2025-09-14
returns the path and the matrix list of the pose movement
Description
This function is important to understand
1st: that the coupler curve PL0 is in fact just the position movement of the pose but for understanding the movement the HT-List T0 is even more important
2nd: Although all points on the effector execute exactly the same motion/rotation (T0), their relative position to the origin of the pose resulted in a changed path, but they all have the same rotational motion!
3rd: It will be possible to search for two points in the immediate neighbourhood (attachment points) for each path of motion, which execute a circular path if the transformation matrix is included. Thus the corresponding fourbar linkage can also be constructed from a movement path.
See Also: Posefourbarplotcouplercurve
, checkfourbar3Poseattachpermutation
, Posefourbarselectcouplercurve
Example Illustration
Syntax
[PL0,T0,wcr,TA0,TB0,TA1,TB1]=PLofPosecouplercurve(PS,[aps,npnt,ncur])
Input Parameter
PS: | | Pose incl. GPL and GAL |
aps: | | index in GAL or [iA iB] for GAL |
npnt: | | number of points of the curve |
ncur: | | number of curves desired; default=0 (Pose Coupler Curve);(will be removed) |
Output Parameter
PL0: | | Point list of Coupler Points Movement |
T0: | | Transformation matrix list of Coupler Points Movement |
wcr: | | angle list of crank returned by invkinplan2 |
TA0: | | Transformation matrix list of joint A0 (only rotation) |
TB0: | | Transformation matrix list of joint B0 (only rotation) |
TA1: | | Transformation matrix list of Attachment point A1 (circular Movement) |
TB1: | | Transformation matrix list of Attachment point B1 (circular Movement) |
Examples
PS=Posesample(7);PS.CPLE = PLsquare([6 4]); checkfourbar3Poseattachpermutation(PS); PS=ans;
close all; PLofPosecouplercurve(PS,1,'',7);
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