Mobility and Kinematic Analysis of a 4R1H Mechanism. MATLAB Files

Published: 26 April 2023| Version 1 | DOI: 10.17632/ztj2jsdyvb.1
Anton Antonov


This dataset presents MATLAB scripts that perform mobility and kinematic analysis of a 1-DOF 4R1H mechanism, introduced in paper The corresponding paper describing the applied algorithms will be presented on the 16th IFToMM World Congress (WC2023) and published in the "Mechanism and Machine Science" series. Please check the list of works at The dataset includes two scripts: 1. Script "mobility.m" finds a twist system of the output link of the considered mechanism. 2. Script "kinematics.m" calculates the output link motion (displacements, velocities, and accelerations) for the given input motion.


Steps to reproduce

The scripts have been obtained in MATLAB R2020a using standard functions, and they can be launched using a "Run" command in the "Editor" tab. Script "kinematics.m" does not need any additional toolboxes. Script "mobility.m" operates with symbolic variables and requires MATLAB Symbolic Math Toolbox:


Institut masinovedenia imeni A A Blagonravova Rossijskoj akademii nauk


Mechanical Engineering, Kinematics, Screw Theory


Russian Science Foundation