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Planar 4-bar

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 the joint coordinates
joint.coor <- rbind(c(0,0,0), c(0,0.5,0), c(1,1,0), c(1,0,0))

# Define the joint types
joint.types <- c('R', 'S', 'S', 'R')

# Define the joint constraint vectors
joint.cons <- list(c(0,0,1), NA, NA, c(0,0,1))

# Define the connections among joints
joint.conn <- rbind(c(0,1), c(1,2), c(2,3), c(3,0))

# Define first rectangle
rec1 <- rbind(c(-0.1,-0.1,0), c(-0.1,0.6,0), c(0.1,0.6,0), c(0.1,-0.1,0))

# Define second rectangle
rec2 <- rbind(c(0.9,-0.1,0), c(0.9,1.1,0), c(1.1,1.1,0), c(1.1,-0.1,0))

# Define the point coordinates
link.points <- rbind(rec1, c(0.5,0.75,0), rec2)

# Set the link associations for each point
link.assoc <- c(1,1,1,1, 2, 3,3,3,3)

# Define points to connect into paths
path.connect <- list(c(1:4,1), c(6:9,6))

# Define linkage
linkage <- defineLinkage(joint.coor=joint.coor, joint.types=joint.types, 
	joint.cons=joint.cons, joint.conn=joint.conn, link.points=link.points, 
	link.assoc=link.assoc, path.connect=path.connect)

# Animate linkage
anim <- animateLinkage(linkage, input.param=seq(0,2*pi,length=60), input.joint=1)

# Draw linkage
drawLinkage(anim, file='RSSR.html')

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.