Structural Kinematics Analysis

In this article, we explore analytical solutions for special structural kinematics. Through this process, we obtain the lengths of three bars and determine the coordinates of the current coordinate system's origin relative to the ground coordinate system. Additionally, we examine transformation matrices between different modules, which are essential for implementing the complete system. The proper implementation of these methods is crucial for ensuring system accuracy and reliability. Therefore, we discuss each step in detail and provide relevant examples to enhance understanding. From a code perspective, the implementation typically involves using homogeneous transformation matrices and mathematical libraries like NumPy for coordinate system conversions. For the three-bar length calculation, algorithms may employ vector operations and trigonometric functions to compute spatial relationships. The transformation matrices can be implemented through matrix multiplication operations, where each module's coordinate system transformation is represented by a 4x4 matrix containing rotation and translation components. We hope this article provides valuable insights for your kinematic analysis implementations.