A Two-Link Inverse-Kinematic Mechanism

This Demonstration shows a two-linkage inverse-kinematic mechanism. The lengths of the rods shown in the diagram are and , and their angles of rotation are and , with ranges to and to , respectively. The coordinates of a point on the toroidal surface are
,
.
Solving for and :
,
,
where and .
With appropriate choices of the constants, the formulas for and can be used to trace a sine wave, an ellipse, or a triangle.
  • Contributed by: Shutao Tang
  • (Changzhou University, Jiangsu Province, China)

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Reference
[1] Wikipedia. "inverse Kinematics." (Jun 12, 2014) en.wikipedia.org/wiki/Inverse_kinematics.
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