| Comments on CHRONO example cardano_shaft.r3d |
| Perform interactive inverse kinematics on a Cardano shaft |
| What to do: load the example file, select one of the three parts of the shaft and use the IK tool on the Chrono toolbar to rotate the mechanism on the screen (we suggest you to use an input plane&grid which is perpendicular to the shaft ends). |
This example is a homokinetic shaft with double universal joints (like the Birfield joint), which you can use to test the interactive inverse kinematic feature of Realsoft. In fact you can move parts of the mechanism on the screen as if you handle it in a virtual reality environment (all the parts will remain assembled and constrained while you move it with the IK tool).
Also try to change the position of the two markers in the "ground" object, to impose different references for the two revolute joints which constraint the mechanism to the absolute space.
Warning: this example is not prepared for animation -nothing would happen if you press the play button-.
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