Don Riley

This file was the final "project" that John Hawkins did in my Kinematics class. If you have an interest in Kinematics or mechanisms, please take a look.

He did an excellent job making polodes (or instant center paths) visible for a wide range of mechanism. I simply did a minor edit and submitted it.

Manually adding link data to "linksdata.mat" file:

if you have saved your link files with struct variables as s1,s2,...,s6,s7

double click on each of the mat file to load them in matlab workspace.

then type,

save('linksdata.mat','s1','s2','s3','s4','s5','s6','s7')

in the command window

A tip to automatically add a column of 1s to vertices matrix

add this line in the cad2mat function

s0.V0 = [V(:,1), V(:,2), V(:,3), ones(length(V),1)];

example:

function cad2mat(filename)
filename = 'Link0.stl'; % part
% Read the CAD data file:
[F, V, C] = rndread(filename);
s0=struct('F0', F,'V0', V,'C0', C);
s0.V0 = [V(:,1), V(:,2), V(:,3), ones(length(V),1)];
save('Link0.mat','s0');
end