Model linkages using alternative techniques i.) Modeling open or closed chain linkages in notebook with command or graphical interface. ii.) Building serial chain robot using Denavit-Hartenberg parameters. iii.) Importing linkages from URDF representation. Rigid bodies' 3D representation defined with standard Graphics3D primitives or import from CAD system using standard 3D file formats such as *.stl, *.obj, *.off, etc. Model gear trains and gear geometries with a simple and intuitive command interface.
Open and fully symbolic representation of linkages in LinkageData datababase. Linkageges can be saved and load from text file. Measure between two points of the linkages parametrically and use this symbolic expression to build optimization problems easily. One parameterised LinkageData can instantiate and query infinite linkage instance. Analyse kinematical and dynamical properties of linkages. Automatically generates loop-closing equations for mechanism with graph toppology.
Linkages can be presented as 2D or 3D graphics with a number of optional graphical elements such as markers, icons, link shapes, trace curves etc. Graphical presentation simplifies understanding results of the different synthesis or optimization tasks. Animation can be generated with simple command interface. Linkages and animation could be exported to VRML , X3D scenes as well as avi or animated gif file formats. Kinematic graph of linkages can be presented as graph