DoubleButterfly_fix.world
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1 /* Double Butterfy linkage */
2 
5 [CONSTANTS]
6 
7 % Rotation in Y between the global reference frame (i.e., the frame of reference of 't1') and
8 % the first bar ('b1')
9 angle := 67.38*PI/180
10 
11 % lengths of the bars connecting the triangles
12 lb1:=11
13 lb2:= 9
14 lb3:= 7
15 lb4:=12
16 
17 % radius of the cylinders defining the bars
18 rb:=0.1
19 
20 % radius of the spheres at the joints
21 rs:=0.2
22 
23 % length of the revolute axes
24 lr:=1
25 
26 [LINKS]
27 
28 t1: body "bodies/triangle1.off" 0.5*yellow
29 
30 t2: body "bodies/triangle2.off" 0.7*yellow
31  sphere rs (0,0,0) red
32 
33 t3: body "bodies/triangle3.off" 0.9*yellow
34 
35 t4: body "bodies/triangle4.off" 1.0*yellow
36  sphere rs (0,0,0) red
37 
38 b1: cylinder rb ( 0,0,0) (lb1,0,0) black
39  sphere rs ( 0,0,0) red
40  sphere rs (lb1,0,0) red
41 
42 b2: cylinder rb ( 0,0,0) (lb2,0,0) black
43  sphere rs ( 0,0,0) red
44  sphere rs (lb2,0,0) red
45 
46 b3: cylinder rb ( 0,0,0) (lb3,0,0) black
47  sphere rs ( 0,0,0) red
48  sphere rs (lb3,0,0) red
49 
50 b4: cylinder rb ( 0,0,0) (lb4,0,0) black
51  sphere rs ( 0,0,0) red
52  sphere rs (lb4,0,0) red
53 
54 [JOINTS]
55 
56 % In ne notation below, we define a rotation axes by selecting
57 % a point on the link and adding a vector to it.
58 % For OFFs, the point are indexed as they appear in the file
59 % (starting at 0!)
60 
61 fix : t1 t2 Txyz(-5.6,0,4.2)*Ry(angle)
62 
63 revolute: t3 (-3,0,4) (-3,lr,4)
64  t4 ( 0,0,0) ( 0,lr,0)
65 
66 revolute: t1 (0,0,0) (0,lr,0)
67  b1 (0,0,0) (0,lr,0)
68 
69 revolute: b1 (lb1,0,0) (lb1,lr,0)
70  t3 ( 0,0,0) ( 0,lr,0)
71 
72 revolute: t2 (-2.4,0,1.8) (-2.4,lr,1.8)
73  b2 ( 0, 0, 0) ( 0, lr, 0)
74 
75 revolute: b2 (lb2,0,0) (lb2,lr,0)
76  t3 ( -3,0,0) ( -3,lr,0)
77 
78 revolute: t2 (-2,0,0) (-2,lr,0)
79  b3 ( 0,0,0) ( 0,lr,0)
80 
81 revolute: b3 (lb3,0,0) (lb3,lr,0)
82  t4 ( -6,0,0) ( -6,lr,0)
83 
84 revolute: t1 (-13,0,0) (-13,lr,0)
85  b4 ( 0,0,0) ( 0,lr,0)
86 
87 revolute: b4 (lb4,0,0) (lb4,lr,0)
88  t4 ( -6.46,0,2.69) (-6.46,lr,2.69)
89 
90