Serial6R1dof.world File Reference

Detailed Description

[Introduction] [Geometry] [Process] [Statistics] [Results]

Introduction

A degenerate 6R mechanism that exibits a one degree-of-freedom solution set. We use this example to show the generality of the methods implemented in the CuikSuite since they allow to deal both with normal and with degenerate instances of the same problem without any issue.

Geometry

Denavit-Hartenberg parameters for these parameters are:

i				Interpretation
1	0.5	1
2	0	1
3	0	1
4	0.5	1
5	0	1
6	0	1

Process

This example is treated following these steps (from the main CuikSuite folder):

• Generate the equations: Execute
  • bin/cuikequations examples/Serial6R/Serial6R1dof
• Solve the positional analysis problem: Execute
  • bin/cuik examples/Serial6R/Serial6R1dof
• Sort the solutions:
  • bin/cuiksort examples/Serial6R/Serial6R1dof
• Animate the solutions:
  • scripts/cuikplayer examples/Serial6R/Serial6R1dof.world examples/Serial6R/Serial6R1dof_1
  • scripts/cuikplayer examples/Serial6R/Serial6R1dof.world examples/Serial6R/Serial6R1dof_isol
• Plot and visualize the configuration space (you will see the two one-dimensional solution sets):
  • bin/cuikplot3d examples/Serial6R/Serial6R1dof_1 6 5 17 0 Serial6R1dof_1.gcl
  • bin/cuikplot3d examples/Serial6R/Serial6R1dof_isol 6 5 17 0.05 Serial6R1dof_isol.gcl
  • geomview Serial6R1dof_1.gcl Serial6R1dof_isol.gcl

Statistics

Characteristics of the problem:

Nr. of indep. loops	1
Nr. of links	6
Nr. of joints	6
Nr. of equations (in the simplified system)	15
Nr. of variables (in the simplified system)	15

Here you have the statistics about the execution (on an Intel Core i7 at 2.9 Ghz).

Nr. of Empty boxes	1188
Nr. of Solution boxes	833
Execution time (s)	20

Results

This is the projection of the configuration space obtained with the instructions previously given:

Definition in file Serial6R1dof.world.