PosesampleHook

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - 4Bar/Linkages
Introduced first in SolidGeometry 5.2, Creation date: 2022-02-22, Last change: 2025-08-19

Pose sample for Hook Movement Task



See Also: PosesampleHook , VLFL_EXP69

Example Illustration

missing image of PosesampleHook

Syntax

PS=PosesampleHook

Output Parameter

PS: returns the Pose task for a hook

Examples

See also usage example in VLFL_EXP69
PosesampleHook; PS=ans;
fourBarposesyntheses(PS,[1 2 3],16,[1 2 3],[1 3]); PS=ans;
fourBarposesyntheses(PS,[1 2 3],[16 3 3],[1 2 3],[1 3]); PS=ans;
fourBarposesortsolution(PS,'base-posy',[-inf -20],'ground-length','flip'); PSX=ans;
fourBarposelayering(PSX,1,[3 1.6 3],[0 1 -1 2],'wlim',[0 165]); CLLL=ans;
fourBarCLLL2SGdesign(CLLL,[3 1.6 3],'assembly','DIN7991');



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, PosesampleHook, is part of the SG-Library and is used for kinematics and frame analysis. It is a work in progress and not ready for final release. The function is designed to generate a pose sample for a hook task.

Input Parameters

The function does not take any input parameters directly. It initializes several geometric shapes and transformations internally.

Algorithm Steps

  1. Create a square shape A with dimensions 120x20 using PLsquare.
  2. Create another square shape B with dimensions 60x100 using PLsquare.
  3. Transform B relative to A using CPLtransrelCPL with parameters 'center', 'under', and 'add'. Adjust the position by adding [0 -10].
  4. Create a square shape D with dimensions 80x15 using PLsquare.
  5. Transform D relative to CPLW using CPLtransrelCPL with parameters 'center' and 'alignbottom'.
  6. Create a hook shape CPLE with dimensions 30x10 and additional parameters [10 1], '', and 0 using PLhook.
  7. Initialize pose sample PS.A with coordinates [60 0; 65 2; 80 -10] and add 0.1 to each element.
  8. Initialize PS.B as PS.A with an offset of [1 0].
  9. Define PS.RACK with coordinates [40 -40; 80 -40].
  10. Assign CPLW, CPLM, and CPLE to PS.CPLW, PS.CPLM, and PS.CPLE respectively.
  11. If no output is requested, create a figure using SGfigure, plot the pose space with Poseplotspace, and plot the pose with Poseplot.

Output

The function returns a structure PS containing the pose sample data.

Algorithm explaination created using ChatGPT on 2025-08-19 07:55. (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