Contents

1. Feature list

1. Define linkage
2. Template based solver
3. Save linkage
4. Animate linkage

1. 1.1 Rigid body representation
2. 1.2 Homogenous matrixes
3. 1.3 Kinematic graph
4. 1.4 How to define kinematic pair

1. 2.1 Predefined records
2. 2.2 Structural information of the linkage
3. 2.3 Independent variables of the linkage
4. 2.4 Dependent variables of the linkage
5. 2.5 Auxiliary records
6. 2.6 Records of the time dependent linkage

1. 3.1 Render linkage in Mathematica notebook
2. 3.2 Render linkage in Dynamic Visualizer
3. 3.3 Render linkage in VRML97 viewer
4. 3.4 Animate linkage

1. 4.1 Create one piston
2. 4.2 Assemble the pistons
3. 4.3 Finalize the V-engine definition

1. 5.1 Open kinematic pair definitions
2. 5.2 Loop closing kinematic pair definitions

1. 6.1 Define the PUMA 560 robot
2. 6.2 Solve the inverse kinematics problem
3. 6.3 Define the inverse linkages
4. 6.4 References

1. 7.1 Define the cardan shaft linkage
2. 7.2 Kinematics of the cardan shaft