FourBars Directory Reference

Introduction

A planar four bar mechanism.

This folder includes several files:

• The file FourBars.world includes the kinematic formulation of the four-bar mechanism and is used for position analysis.
• The file FourBars_extraeq.world is an example of how to add user-provided equations to the ones automatically generated from the world file. The file defines a four bar open on one of its joints but the user provided equation enforces the loop closure. Please, see the file for more details.
• The file FourBars_pendulum.world is a variant of where the four bar works as a pendulum with limited torque. Thus, in this case the planning to move the pendulum is harder since the bar that plays the role of pendulum has to be swing to gain momentum. This is a variant of a classical problem in path planning with dynamic constraints.
  
• The file FourBars_rehab.world also includes dynamic and models a rehabilitation machine. This is a work in progress.

Files
file	FourBars.world [code]
	A planar four bar mechanism.
file	FourBars_extraeq.world [code]
	A planar four bar mechanism defined with user provided equations.
file	FourBars_pendulum.world [code]
file	FourBars_rehab.world [code]
	A planar four bar mechanism with dynamics.