00001
00002
00005 [CONSTANTS]
00006
00007 % Mechanism parameters
00008 a:=9
00009 b:=6
00010 c:=3
00011
00012 % Cylinder and sphere radius used to plot the mechanism
00013 cr:= 0.25
00014 sr:=0.5
00015
00016 [LINKS]
00017
00018 b_1_2: cylinder cr (0,0,0) (a,0,0) black
00019 sphere sr (0,0,0) red
00020 sphere sr (a,0,0) red
00021
00022 b_3_4: cylinder cr (0,0,0) (a,0,0) black
00023 sphere sr (0,0,0) red
00024 sphere sr (a,0,0) red
00025
00026 b_5_6: cylinder cr (0,0,0) (a,0,0) black
00027 sphere sr (0,0,0) red
00028 sphere sr (a,0,0) red
00029
00030 b_7_8: cylinder cr (0,0,0) (a,0,0) black
00031 sphere sr (0,0,0) red
00032 sphere sr (a,0,0) red
00033
00034
00035 b_1_5: cylinder cr (0,0,0) (b,0,0) black
00036
00037 b_2_6: cylinder cr (0,0,0) (b,0,0) black
00038
00039 b_3_7: cylinder cr (0,0,0) (b,0,0) black
00040
00041 b_4_8: cylinder cr (0,0,0) (b,0,0) black
00042
00043
00044
00045 b_1_3: cylinder cr (0,0,0) (c,0,0) black
00046
00047 b_2_4: cylinder cr (0,0,0) (c,0,0) black
00048
00049 b_5_7: cylinder cr (0,0,0) (c,0,0) black
00050
00051 b_6_8: cylinder cr (0,0,0) (c,0,0) black
00052
00053
00054 [JOINTS]
00055
00056 revolute: b_1_2 0+(0,1,0)
00057 b_1_3 0+(0,1,0)
00058
00059 revolute: b_1_2 0+(0,1,0)
00060 b_1_5 0+(0,1,0)
00061
00062 revolute: b_1_2 1+(0,1,0)
00063 b_2_4 0+(0,1,0)
00064
00065 revolute: b_1_2 1+(0,1,0)
00066 b_2_6 0+(0,1,0)
00067
00068 revolute: b_3_4 0+(0,1,0)
00069 b_1_3 1+(0,1,0)
00070
00071 revolute: b_3_4 0+(0,1,0)
00072 b_3_7 0+(0,1,0)
00073
00074 revolute: b_3_4 1+(0,1,0)
00075 b_2_4 1+(0,1,0)
00076
00077 revolute: b_3_4 1+(0,1,0)
00078 b_4_8 0+(0,1,0)
00079
00080 revolute: b_5_6 0+(0,1,0)
00081 b_1_5 1+(0,1,0)
00082
00083 revolute: b_5_6 0+(0,1,0)
00084 b_5_7 0+(0,1,0)
00085
00086 revolute: b_5_6 1+(0,1,0)
00087 b_2_6 1+(0,1,0)
00088
00089 revolute: b_5_6 1+(0,1,0)
00090 b_6_8 0+(0,1,0)
00091
00092 revolute: b_7_8 0+(0,1,0)
00093 b_5_7 1+(0,1,0)
00094
00095 revolute: b_7_8 0+(0,1,0)
00096 b_3_7 1+(0,1,0)
00097
00098 revolute: b_7_8 1+(0,1,0)
00099 b_4_8 1+(0,1,0)
00100
00101 revolute: b_7_8 1+(0,1,0)
00102 b_6_8 1+(0,1,0)
00103
