00001
00002 [CONSTANTS]
00003
00004 a:=pi*0.9
00005 b:=pi/16
00006
00007 % Q P define the first rotation axis
00008 % Q in the link1 refence frame
00009 q1_x:=0
00010 q1_y:=0
00011 q1_z:=0
00012
00013 % P in the link1 refence frame
00014 p1_x:=1
00015 p1_y:=0
00016 p1_z:=0
00017
00018 % Q R define the second rotation axis
00019 % Q in the link2 refence frame
00020 q2_x:=0
00021 q2_y:=0
00022 q2_z:=0
00023
00024 % R in the link2 refence frame
00025 r2_x:=0
00026 r2_y:=1
00027 r2_z:=0
00028
00029 % recall that vectors QP and QR are orthogonal
00030
00031 % QS is the reference vector for the 2nd rotation
00032 % (S is in the link1 reference frame)
00033 s1_x:=0
00034 s1_y:=1
00035 s1_z:=0
00036
00037 % QT is the reference vector for the 1nd rotation
00038 % (T is in the link2 reference frame)
00039 t2_x:= 0
00040 t2_y:= 0
00041 t2_z:=-1
00042
00043 % Range of movements of the 1st rotation
00044 r1:=pi/16
00045
00046 % Range of movements of the 2nd rotation
00047 r2:=pi/16
00048
00049 % Offset for the 1st rotation
00050 o1:=pi*0.32
00051
00052 % Offset for the 2nd rotation
00053 o2:=pi*0.87
00054
00055 % Radius of the cylinders representing links
00056 rcl:=0.1
00057 % Radius of the cylinders representing joints
00058 rcj:=0.05
00059
00060 [LINKS]
00061
00062 link1: 0.9*white
00063 sphere rcl (0,2,0)
00064 cylinder rcl (0,0.5,0) (0,2,0)
00065 sphere rcl (0,0.5,0)
00066 cylinder rcl (0,0.5,0) (-0.5,0.5,0)
00067 sphere rcl (-0.5,0.5,0)
00068 cylinder rcl (-0.5,0.5,0) (-0.5,0,0)
00069 cylinder rcl (0,0.5,0) ( 0.5,0.5,0)
00070 sphere rcl ( 0.5,0.5,0)
00071 cylinder rcl ( 0.5,0.5,0) ( 0.5,0,0)
00072 sphere rcl (-0.5,0,0)
00073 sphere rcl (0.5,0,0)
00074 cylinder rcj (-0.5,0,0)(0.5,0,0) 0.1*white
00075
00076 link2: 0.1*white
00077 sphere rcl (2,0,0)
00078 cylinder rcl (0.5,0,0) (2,0,0)
00079 sphere rcl (0.5,0,0)
00080 cylinder rcl (0.5,0,0) (0.5,-0.25,0)
00081 sphere rcl (0.5,-0.25,0)
00082 cylinder rcl (0.5,-0.25,0) (0,-0.25,0)
00083
00084 cylinder rcl (0.5,0,0) ( 0.5,0.25,0)
00085 sphere rcl ( 0.5,0.25,0)
00086 cylinder rcl ( 0.5,0.25,0) ( 0,0.25,0)
00087
00088 sphere rcl (0,-0.25,0)
00089 sphere rcl (0,0.25,0)
00090 cylinder rcj (0,-0.25,0)(0,0.25,0) 0.9*white
00091
00092
00093 [JOINTS]
00094 UNIVERSAL: link1 (q1_x,q1_y,q1_z) (p1_x,p1_y,p1_z)
00095 link2 (q2_x,q2_y,q2_z) (r2_x,r2_y,r2_z)
00096 range [-r1+o1,r1+o1] (s1_x,s1_y,s1_z)
00097 [-r2+o2,r2+o2] (t2_x,t2_y,t2_z)
00098
00099
