DoubleButterfly_fix.world File Reference

The Double Butterfly linkage: case with discrete solutions. More...

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Detailed Description

This is the Double Butterfly linkage, but with isolated solutions. This is achieved by fixing the relative position of bar 'b1' with respect to triangle 't1', the ground link.

For a formulation that allows one degree of freedom to the linkage see DoubleButterfly.

Fixing the relative position of one of more links can be used as a mechanisms to generate samples (i.e., points in the configuration space) from where to start the path planning.

The position anaylisis of this rigid linkage can be done exactly in the same way as that for the mobile version (see DoubleButterfly). This is the beauty of CuikSuite.

Note that it makes no sense to do path planning with a linkage with a zero-th dimensinoal configuration space.

Definition in file DoubleButterfly_fix.world.