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Contents

Introduction
  1. Feature list
Quick Tour
  1. Define linkage
  2. Template based solver
  3. Save linkage
  4. Animate linkage
Principles of linkage definition
  1. 1.1 Rigid body representation
  2. 1.2 Homogenous matrixes
  3. 1.3 Kinematic graph
  4. 1.4 How to define kinematic pair
LinkageData: A new datatype
  1. 2.1 Predefined records
  2. 2.2 Structural information of the linkage
  3. 2.3 Independent variables of the linkage
  4. 2.4 Dependent variables of the linkage
  5. 2.5 Auxiliary records
  6. 2.6 Records of the time dependent linkage
Render linkages
  1. 3.1 Render linkage in Mathematica notebook
  2. 3.2 Render linkage in Dynamic Visualizer
  3. 3.3 Render linkage in VRML97 viewer
  4. 3.4 Animate linkage
Join linkages
  1. 4.1 Create one piston
  2. 4.2 Assemble the pistons
  3. 4.3 Finalize the V-engine definition
Advanced linkage definition
  1. 5.1 Open kinematic pair definitions
  2. 5.2 Loop closing kinematic pair definitions
Template based solver
  1. 6.1 Define the PUMA 560 robot
  2. 6.2 Solve the inverse kinematics problem
  3. 6.3 Define the inverse linkages
  4. 6.4 References
Kinematics of linkages
  1. 7.1 Define the cardan shaft linkage
  2. 7.2 Kinematics of the cardan shaft
Index