checkfourbar3Posepermutation
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - 4Bar/Linkages
Introduced first in SolidGeometry 4.4, Creation date: 2019-01-20, Last change: 2025-09-14
calculates from a center3pose solution all possible permutations and the fourbar parameters
Description
FP contains the complete solution list for all permutations w.r.t. to the specified conditions
[L1 L2 R D C U A0 B0 iA iB kA kBd w]
Results can be animated by
>> fourBarLinkageplotanim(FP(l,1),FP(l,2),FP(l,3),[FP(l,7:8);FP(l,9:10)],'',FP(l,5)==2,[],[FP(l,13), FP(l,16) FP(l,15)]);
THIS FUNCTION IS PART OF THE SEQUENCE
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: center3Pose
, checkfourbar3Pose
Example Illustration
Syntax
[FP,FPall]=checkfourbar3Posepermutation(A,B,S,[dws])
Input Parameter
A: | | Pose starting points |
B: | | Pose end points |
S: | | Solutions created by center3Pose |
dws: | | distance and angle; default is first |
Property names
'L1' : Interval for L1; default is [0 inf]
'L2' : Interval for L12; default is [0 inf]
'R' : Interval for R; default is [0 inf]
'D' : Interval for D; default is [0 inf]
'C' : Interval for elbow-config C; default is [1 2]
'U' : Values for rotation [0 1 10 11]
'ka' : Interval for kA; default is [0 inf]
'kb' : Interval for kB; default is [0 inf]
'x' : ?
'y' : ?
'CPLA' : ?
'CPLB' : ?
Output Parameter
FP: | | Existing Solution list [L1 L2 R D C U A0 B0 iA iB kA kBd w] |
FPall: | | Table containing all possible parameters |
Examples
center3Pose(PS.A,PS.B,[-20:.1:20],'',0); S=ans; CPLplot(CPLsample(4)); FP=checkfourbar3Posepermutation(PS.A,PS.B,S);
checkfourbar3Posepermutation(PS.A,PS.B,FP,'');
checkfourbar3Posepermutation(PS.A,PS.B,FP,'','l1rd',[4 12]);
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