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A Two-Link Inverse-Kinematic Mechanism

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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

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,

.

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.

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Contributed by: Shutao Tang  (June 2014)
(Changzhou University, Jiangsu Province, China)
Open content licensed under CC BY-NC-SA

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Reference

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

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