Description Usage Arguments Details Value Author(s) See Also
This function takes the joint positions, types and constraints of a lever or linkage mechanism or a set of minimum parameters and creates a list of class "linkage"
that forms the basic object for model creation and analysis.
1 2 3 4 |
joint.coor |
A matrix of 2D or 3D coordinates that are the joints of a lever or linkage mechanism. |
joint.types |
A vector of single letters indicating the type of constraints acting on each joint. Supported types are "R", "U", "L" and "P". See Details. |
joint.cons |
A list or matrix of 3D constraint vectors that correspond to each joint. |
joint.conn |
A two-column matrix having the same number of rows as |
link.points |
A matrix of points associated with one or more of the links in the linkage (optional). |
link.assoc |
A vector of integers or rownames indicating the link with which each row in |
link.names |
A vector of the link names (optional). |
ground.link |
A numeric or link name specifying the ground link of the linkage. |
path.connect |
A list of vectors, each specifying the points to connect (in sequence) with lines when drawing. This parameter is only used when calling the function |
lar.cons |
A list specifying long-axis rotation constraints on links with S-joints on each end. This feature will eventually be added into the |
Please see linkR Resources for a tutorial on how to use the linkR package and the linkR example gallery for several examples (code and animations) of different linkages that can be created using linkR.
a list of class "linkage"
with the following elements:
joint.coor |
A matrix of 2D or 3D coordinates that are the joints of a lever or linkage mechanism. |
joint.cons |
A vector of single letters indicating the type of constraints acting on each joint. |
joint.types |
A list or matrix of 3D constraint vectors that correspond to each joint. |
joint.links |
A matrix specifying the joints connecting to each link. Used by the |
joint.paths |
"Path fragments" along the linkage network, used by the |
joint.conn |
A two-column matrix having the same number of rows as |
joint.init |
The initial position of the joints in the linkage. |
ground.joints |
The ground joints in the linkage. |
points |
A matrix of points associated with any of the links in the linkage. |
points.assoc |
The links with which each point is associated. |
link.assoc |
A vector of integers or rownames indicating the link with which each row, if input. |
link.names |
A vector of the link names. |
point.connect |
A list of vectors, each of which specifies linkage-associated points to connect in sequence with a path. This is only used by |
link.lcs |
Local coordinate systems assigned to each link which will be transformed with the associated link for kinematic analysis. |
lar.cons |
Constraints on long-axis rotation. |
num.links |
The number of links in the linkage. |
dof |
The number of degrees of freedom of the linkage. Currently, this may not be accurately estimated for all linkages. |
Aaron Olsen
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