V2020.1.56.3_ Bar Linkage Solver



Overview

A Bar Linkage Solver is a combinatory joint which allows you to quickly create an bar linkage using Wheel Joints and a Prismatic Joint. Bar linkages are commonly used in hydraulic systems (such as crane arms).

The Bar Linkage Solver can easily be used for Kinematic Synthesis (n-bar linkages by combining <4 bar link systems).

A Bar Linkage Solver controlling a piston pushing an arm


Where to find

The Bar Linkage Solver component can be found under Mechanics > Add Kinematics > Bar Linkage Solver.

It can also be accessed from the GameObject menu or from the Hierarchy Context menu.

A new GameObject will be created if you do not have a GameObject selected. Otherwise, the Bar Linkage Solver will be added to the selected GameObject.


Feature layout

The image below shows the complete feature layout of the Bar Linkage Solver component.

Generic Joint Settings

 

Pass Priority

Priority of the kinematic chain calculations. Higher numbers are calculated earlier

Enforce Outside Playmode

Enforces the prismatic joint in edit mode

Prevent Kinematic Update

Removes the prismatic joint from the kinematic chain calculations

Prevent Further Kinematic Update on this GameObject

Allows lower priority kinematic transforms on the same GameObject to be skipped in calculations

Allow Direct User Input

Allows the user to manipulate the prismatic joint with the scene gizmo

Min. User Input Translation Offset

The minimum value the user must input before translations are applied

Min. User Input Rotation Offset

The minimum value the user must input before rotations are applied

Kinematic Chaining

 

Opposing Relation Instance

The kinematic transform to which you want to link the prismatic joint to

Relation Direction

Describes the direction of the manipulation of the Transforms. The following options are available:

  • BIDIRECTIONAL: Allows for both kinematic transforms, when they are being manipulated, to manipulate each other equally

  • RECIEVE_ONLY: Allows for the prismatic joint, when it is being manipulated, to manipulate the opposing kinematic transform, but not the other way around

  • SEND_ONLY: Allows for the opposing kinematic transform, when it is being manipulated, to manipulate the prismatic joint, but not the other way around

Relation Type

Not yet implemented

Motion Direction is Reversed

When enabled, the manipulation to/from the opposing kinematic transform is inverted

Bar Linkage Triangles

 

Add Triangle

Allows the user to add a new triangle with a random color to the Bar Linkage Solver

Triangle ##

Shows the ID of the triangle, the names of the two Wheel Joints in the triangle and whether the triangle is the leading triangle

Color Picker

Allows the user to change the color of the triangle

Delete Button

Allows the user to delete the triangle from the Bar Linkage Solver

Leading Triangle / Set as Leading

If the triangle is the leading triangle, that will be displayed. Else a button will appear to set the triangle as the leading triangle

Moving Pivot

The Bar Linkage Solver is the Moving Pivot by default. This is a constant field and is shown for clarity

Fix Pivot

Allows the user to assign a Wheel Joint as Fix Pivot

Hinge Point

Allows the user to assign a Wheel Joint as Hinge Point

Draw Triangle Gizmo

Allows the user to toggle the triangle gizmo

Limit Relation & Update Settings

 

Spline Input field

Defines the spline to which the Prismatic Joint is bound to

Prismatic Joint Settings

 

Spline Constraint Lenght

The length of the spline

Current Spline Position

Normalized position of the Prismatic joint over the spline between 0 and 1

Target Control Point

The Spline point to be used for Update Limit ControlPoint

Update Limit ControlPoint

Updates the Target Control Point to the current spline position

How to use - Part A

  1. To create a Bar Linkage Solver, you first need the right setup. This setup will include several fixed arms, Wheel Joints and a Piston (this requires a https://unit040.atlassian.net/wiki/pages/createpage.action?spaceKey=PUD&title=Spline&linkCreation=true&fromPageId=281673984 ). Part A of the How to use will guide you through the process of creating this system

    Example of a system suitable for a Bar Linkage Solver.

  2. Add a https://unit040.atlassian.net/wiki/spaces/PUD/pages/281673729 to each of the rotational points

    Make sure the Wheel Axis Direction of the Wheel Joints are aligned with the desired rotation

  3. After all Wheel Joints are added, create a Spline to control the range and postion of the Piston. Align the Spline Control Points to the Piston Rod. Holding V enables snapping to vertices in Unity

  4. Make sure the Spline is parented under the Piston. Your system is now set up to add a Bar Linkage Solver

How to use - Part B

This part will show you how to add a Bar Linkage Solver, to your previously created system. A Bar Linkage Solver requires the creation of several triangles.

  1. Add a Kinematics Controller, this can be found under Mechanics > Add Kinematics > Kinematics Controller

  2. Make sure the Kinematic Controller is placed above the system in the Hierarchy

     

  3. Add a Bar Linkage Solver to the prismatic component in the system. This can be found under Mechanics > Add Kinematics > Bar Linkage Solver. The prismatic component is the piston part that controls the system

     

  4. Assign the Spline as the constraining spline for the Bar Linkage Solver

     

  5. Create a Triangle

     

  6. Assign the Fix Pivot and the Hinge Point for the Triangle

     

  7. Turn on Enforce outside playmode, the first Triangle should work now

  8. Create a second Triangle and follow the same steps

     

  9. The Bar Linkage Solver is now complete