Coupled rotating, linear links
To run the example below, ensure that you have R installed on your system as well as the R packages linkR and svgViewR. Then, copy and paste the following code into the R console.
# Define joint coordinates joint.coor <- rbind(c(0,0,0), c(0,1,0), c(0.9,1,0.9), c(1,1,1), c(1.1,1,0.9), c(2,2,0), c(2,0,0)) # Define joint types joint.types <- c('R', 'S', 'S', 'L', 'S', 'S', 'R') # Define joint constraints joint.cons <- list(c(-1,0,1), NA, NA, c(1,0,0), NA, NA, c(0,0,1)) # Define two links connected by each joint joint.conn <- rbind(c(0,1), c(1,2), c(2,3), c(3,0), c(3,4), c(4,5), c(5,0)) # Define linkage linkage <- defineLinkage(joint.coor=joint.coor, joint.types=joint.types, joint.cons=joint.cons, joint.conn=joint.conn) # Animate linkage anim <- animateLinkage(linkage, input.param=seq(0,pi/6,length=50), input.joint=1) # Draw linkage drawLinkage(anim, file='RSSLSSR.html', animate.reverse=TRUE)
This will create an interactive visualization as an ".html" file that can be opened in any compatible web browser. See svgViewR Interactive Commands for instructions on how to interact with svgViewR animations.