Inverse and Forward Kinematic Analysis of a 6-DOF Foldable Mechanism with a Circular Rail (FoldRail Mechanism). Julia Files

Description

This dataset contains Julia files that solve inverse and forward kinematic problems of a 6-DOF 3-RRRS foldable parallel mechanism with a circular rail (FoldRail mechanism), which was presented in paper https://doi.org/10.1016/j.mechmachtheory.2023.105425. The corresponding paper describing the applied algorithms is going to be published in the Mechanism and Machine Theory journal. Please check the list of works at https://orcid.org/0000-0002-3928-5440. The dataset includes the following files: 1. File "main.jl" is the main file that proceeds with the inverse and forward kinematic analysis of the mechanism step by step. 2. File "geometry.jl" is used to define geometrical parameters of the mechanism. 3. File "trajectories.jl" includes functions that define trajectory of the output link and path time scaling, which are used as the input motion for the inverse kinematics. 4. File "kinematics.jl" includes functions that solve inverse and forward kinematic problems and some auxiliary functions. 5. File "plots.jl" includes functions that visualize the results of the kinematic analysis. 6. Optional files "Project.toml" and "Manifest.toml" contain information about the used packages.

Steps to reproduce

The files have been written in Julia v1.10.3 using VS Code v1.92.0 with Julia extension v1.105.2. The following packages are used: 1. DSP package (v0.7.9) and its conv() function for forward kinematics. 2. Polynomials package (v4.0.11) for finding roots of polynomial equations. 3. CairoMakie (v0.12.5) and LaTeXStrings (v1.3.1) for visualization. 4. (Optional) NLsolve (v4.5.1) for numerical verification of forward kinematics. After installing these packages, one can use VS Code and follow the "main.jl" file according to the comments therein.

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