checkfourbarcouplerlength
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - 4Bar/Linkages
Introduced first in SolidGeometry 4.4, Creation date: 2019-01-13, Last change: 2025-09-14
checks the solutions of invkinplan2 for a fourbar linkage calculation
Description
for some unexpected and unclear reasons, the inverse kinematic equations have some numerical instability. This function was implemented and is used within invkinplan2 to warn if the calculations contains numerical errors.
See Also: invkinplan2
, isincirclesegment
Example Illustration
Syntax
[ok,ind1,ind2,err,r1,r2]=checkfourbarcouplerlength(B1,B2,PL,[l2chk,tol])
Input Parameter
B1: | | REAL Solutions of joint 1 configuration ellbow down |
B2: | | REAL Solutions of joint 1 configuration ellbow up |
PL: | | REAL Point list for TCP |
l2chk: | | expected length of link 2 |
tol: | | tolerance default is 1e-7 , i.e. eps2 |
Output Parameter
ok: | | true of there is no problem |
ind1: | | index of B1 with problem |
ind2: | | index of B2 with problem |
err: | | maximum accoured error |
r1: | | average link length l2 for configuration ellbow down |
r2: | | average link length l2 for configuration ellbow up |
Examples
[~,~,B1,B2,rs,PL]=invkinplan2(70,40,[40 -110 0 120]); B1=B1(rs,:); B2=B2(rs,:); PL=PL(rs,:); checkfourbarcouplerlength(B1,B2,PL,40)
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