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4 % Q1-P1 define the first rotation axis
5 % Both defined in the link1 refence frame
14 % Q2-R2 define the second rotation axis
15 % Both defined in the link2 refence frame
24 % Tecall that when the joint is assembled Q1 and Q2 coincide and
25 % vectors Q1-P1 and Q2-R2 are orthogonal
27 % Vector Q1-S1 is the reference vector for the 1st rotation
28 % (S is in the link1 reference frame)
29 % Vector Q2-R2 is coincident with vector Q1-S1 when the 1st rotation is 0
34 % Vector Q2-T2 is the reference vector for the 2nd rotation
35 % (T is in the link2 reference frame)
36 % Vector Q1-P1 is coincident with vector Q2-T2 when the 2nd rotation is 0
41 % Range of movements of the 1st rotation
44 % Range of movements of the 2nd rotation
47 % Offset for the 1st rotation
50 % Offset for the 2nd rotation
53 % Radius of the cylinders representing links
55 % Radius of the cylinders representing joints
62 cylinder rcl (0,0.5,0) (0,2,0)
64 cylinder rcl (0,0.5,0) (-0.5,0.5,0)
65 sphere rcl (-0.5,0.5,0)
66 cylinder rcl (-0.5,0.5,0) (-0.5,0,0)
67 cylinder rcl (0,0.5,0) ( 0.5,0.5,0)
68 sphere rcl ( 0.5,0.5,0)
69 cylinder rcl ( 0.5,0.5,0) ( 0.5,0,0)
72 cylinder rcj (-0.5,0,0)(0.5,0,0)
76 cylinder rcl (0.5,0,0) (2,0,0)
78 cylinder rcl (0.5,0,0) (0.5,-0.25,0)
79 sphere rcl (0.5,-0.25,0)
80 cylinder rcl (0.5,-0.25,0) (0,-0.25,0)
82 cylinder rcl (0.5,0,0) ( 0.5,0.25,0)
83 sphere rcl ( 0.5,0.25,0)
84 cylinder rcl ( 0.5,0.25,0) ( 0,0.25,0)
86 sphere rcl (0,-0.25,0)
88 cylinder rcj (0,-0.25,0)(0,0.25,0)
92 UNIVERSAL: link1 (q1_x,q1_y,q1_z) (p1_x,p1_y,p1_z)
93 link2 (q2_x,q2_y,q2_z) (r2_x,r2_y,r2_z)
94 range [o1-r1,o1+r1] (s1_x,s1_y,s1_z)
95 [o2-r2,o2+r2] (t2_x,t2_y,t2_z)
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