Re: Question on Closed Kinematic Chains using PyDy

[Jason Moore]

Octavio,

I'm forwarding our question to the PyDy email list. I don't have time to check out your code right this second, but maybe someone else will jump in sooner.

Jason
moorepants.info
+01 530-601-9791

On Mon, Aug 10, 2015 at 11:33 AM, OCTAVIO NARVAEZ-AROCHE <ocn...@berkeley.edu> wrote:

Hello,

I am interested in studying closed kinematic chains using PyDy and I found a discussion that you had on the dynamic model of a pantograph at

https://groups.google.com/forum/#!msg/pydy/E9hUL1H2Ccw/4i-5-0MzpaoJ

I am attaching the code I wrote to visualize the mechanism, but the kinematic constraints do not hold (point O2 is not fixed). Am I doing something wrong in the visualization stage or is it that the constraints are still not properly defined?
 

I would really appreciate your help. Wish you a good a week.

--

OCtavio NArváez-ARoche, MEng

PhD student @ University of California, Berkeley

[Octavio Narváez Aroche]

I am attaching the notebook missing in the last post.

[Jason Moore]

One issue I noticed is that if you substitute in your initial conditions into the kinematic constraints you don't get [0.0, 0.0]. Your initial conditions should satisfy both the coordinate and velocity constraints.

Jason
moorepants.info
+01 530-601-9791

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