{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Synthesis of Bennett Mechanism (JupyterNTB Tutorial)\n", "\n", "This Jupyter notebook serves as an example of using the package for mechanism synthesis. Run it live on Binder platform clicking on the following badge: [![Binder](https://mybinder.org/badge_logo.svg)](https://mybinder.org/v2/gh/hucik14/rational-linkages/HEAD?labpath=docs%2Fsource%2Ftutorials%2Fsynthesis_bennett.ipynb)\n", "\n", "Link to the source notebook: https://github.com/hucik14/rational-linkages/blob/main/docs/source/tutorials/synthesis_bennett.ipynb" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-06-01T12:59:16.390935Z", "start_time": "2026-06-01T12:59:16.377737Z" } }, "source": [ "# in case of errors, make sure to have the latest version of the rational-linkages package installed (uncomment the following line and run the cell)\n", "# !pip install --upgrade rational-linkages[opt]" ], "outputs": [], "execution_count": 1 }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-06-01T12:59:16.701999Z", "start_time": "2026-06-01T12:59:16.391977Z" } }, "source": [ "# you can ignore PyQt errors as this backend is not used for Jupyter Notebooks\n", "# initial import of the required libraries\n", "%matplotlib inline\n", "\n", "from rational_linkages import (Plotter, MotionInterpolation, TransfMatrix, RationalMechanism)" ], "outputs": [], "execution_count": 2 }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Poses definition\n", "\n", "Bennett mechanism can be synthesised from a quadratic motion curve. This curve can be obtained from interpolation of 3 given poses. Poses can be defined as transformation matrices or dual quaternions. This examples creates poses from roll, pitch, yaw angles and desired translations.\n", "\n", "Pose p0 is set to identity, which will yield the univariate rational function after the interpolation. It is always possible to perform transformation of the whole motion curve (including mechanism itself) to desired end-effector pose." ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-06-01T12:59:16.714273Z", "start_time": "2026-06-01T12:59:16.702859Z" } }, "source": [ "# for simplification, p0 is the identity matrix\n", "p0 = TransfMatrix() \n", "\n", "p1 = TransfMatrix.from_rpy_xyz([-40, 0, 0], [0.030, 0.1, 0.02], unit='deg') \n", "p2 = TransfMatrix.from_rpy_xyz([0, 90, 0], [0.09, -0.05, -0.02], unit='deg') \n", "\n", "poses = [p0, p1, p2] # list of the transformation matrices\n", "\n", "for i, pose in enumerate(poses):\n", " print(f'Pose {i}:')\n", " print(pose)\n", " " ], "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Pose 0:\n", "[[1., 0., 0., 0.],\n", " [0., 1., 0., 0.],\n", " [0., 0., 1., 0.],\n", " [0., 0., 0., 1.]]\n", "Pose 1:\n", "[[ 1. , 0. , 0. , 0. ],\n", " [ 0.03 , 1. , 0. , 0. ],\n", " [ 0.1 , 0. , 0.7660444431, 0.6427876097],\n", " [ 0.02 , 0. , -0.6427876097, 0.7660444431]]\n", "Pose 2:\n", "[[ 1. , 0. , 0. , 0. ],\n", " [ 0.09, 0. , 0. , 1. ],\n", " [-0.05, 0. , 1. , 0. ],\n", " [-0.02, -1. , 0. , 0. ]]\n" ] } ], "execution_count": 3 }, { "cell_type": "markdown", "metadata": {}, "source": [ "You can notice that the matrices follow \"european\" convetion, i.e. the first row are homogeneous coordinates, the first column is the translation vector, and rotation matrix is in the second to last column/row.\n", "\n", "We chose p2 to be identity matrix, which returns monomial curve. This means, that the curve will interpolate exactly the desired poses. This pose can be arbitrary, but since the factorization produces later monomial polynoms, the whole mechanism will undergo static transformation by p2." ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-06-01T12:59:16.768452Z", "start_time": "2026-06-01T12:59:16.714980Z" } }, "source": [ "# initiate plotter\n", "myplt = Plotter(jupyter_notebook=True, arrows_length=0.02)\n", "for i, pose in enumerate(poses):\n", " myplt.plot(pose, label=f'p{i}')" ], "outputs": [ { "data": { "text/plain": [ "
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" }, "metadata": {}, "output_type": "display_data" } ], "execution_count": 4 }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Poses interpolation" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-06-01T12:59:17.038154Z", "start_time": "2026-06-01T12:59:16.769080Z" } }, "source": [ "# obtain curve from poses\n", "curve = MotionInterpolation.interpolate(poses)\n", "\n", "print('')\n", "print('Interpolated curve:')\n", "print(curve)\n", "\n", "myplt = Plotter(jupyter_notebook=True, arrows_length=0.02, steps=300)\n", "for i, pose in enumerate(poses):\n", " myplt.plot(pose, label=f'p{i}')\n", "myplt.plot(curve, interval='closed')" ], "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "\n", "Interpolated curve:\n", "RationalCurve([2.573049098872*t**2 - 1.68788693606722*t + 0.247312168627015, -0.412186947711691*t, 0.247312168627015 - 0.247312168627015*t, 0, -0.00618280421567536, -0.00338494569699111*t - 0.0136021692744858, 0.00618280421567536 - 0.0586846513101482*t, -0.023278164797957*t - 0.00865592590194551])\n" ] }, { "data": { "text/plain": [ "
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" }, "metadata": {}, "output_type": "display_data" } ], "execution_count": 5 }, { "cell_type": "markdown", "metadata": {}, "source": [ "Keep in mind, that the curve above is 8-dimensional curve that interpolates both, position and orientation. The plotted blue curve shows only position." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Motion factorization\n", "\n", "Synthesize mechanism that can follow given motion curve" ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-06-01T12:59:17.172779Z", "start_time": "2026-06-01T12:59:17.043044Z" } }, "source": [ "mechanism = RationalMechanism(curve.factorize())\n", "\n", "myplt = Plotter(mechanism=mechanism, jupyter_notebook=True, arrows_length=0.02, steps=300)\n", "for i, pose in enumerate(poses):\n", " myplt.plot(pose, label=f'p{i}')" ], "outputs": [ { "data": { "text/plain": [ "
" ], "image/png": 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" }, "metadata": {}, "output_type": "display_data" } ], "execution_count": 6 }, { "cell_type": "markdown", "metadata": {}, "source": [ "On the figure above, a Bennett mechanism (black) that can achieve with its tool frame (tool link is represented with purple dashed lines) is shown. This only very simple line model with collisions, which can be checked using following line." ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-06-01T12:59:29.523113Z", "start_time": "2026-06-01T12:59:29.236148Z" } }, "source": [ "mechanism.collision_check()" ], "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Collision check started...\n", "--- number of tasks to solve: 20 ---\n", "--- collision check finished in 0.27808713912963867 seconds.\n", "No collisions found.\n" ] } ], "execution_count": 11 }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Collision-free design\n", "\n", "It is possible to run collision-free linkage using the combinatorial search algorithm. Since it is a time demanding task, the following line is commented." ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-06-01T12:59:17.686128Z", "start_time": "2026-06-01T12:59:17.680594Z" } }, "source": [ "# mechanism.collision_free_optimization(max_iters=10)" ], "outputs": [], "execution_count": 8 }, { "cell_type": "markdown", "metadata": {}, "source": [ "A solution was already calculated before for following shifts of combinations. Lists of combinations can be also inserted in to the search, the same as starting iteration, etc. Please, read more carefully the tutorial documentation page on this topic." ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-06-01T12:59:36.155284Z", "start_time": "2026-06-01T12:59:35.731111Z" } }, "source": [ "comb_links = [(0, 0, 0, -1)]\n", "comb_joints = [(-1, 1, 1, -1, 1, -1, -1, 1)]\n", "mechanism.collision_free_optimization(min_joint_segment_length=0.003,\n", " combinations_links=comb_links,\n", " combinations_joints=comb_joints)" ], "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Starting combinatorial search algorithm...\n", "--- iteration: 1, shift_value: 0.012022695085620426, sequence 1 of 1: (0, 0, 0, -1)\n", "Collision check started...\n", "--- number of tasks to solve: 2 ---\n", "--- collision check finished in 0.1417539119720459 seconds.\n", "No collisions found.\n", "\n", "Collision-free solution for links found, starting joint search...\n", "--- joint search. Shift_value: 0.0015, sequence 1 of 1: (-1, 1, 1, -1, 1, -1, -1, 1)\n", "Collision check started...\n", "--- number of tasks to solve: 20 ---\n", "--- collision check finished in 0.25880980491638184 seconds.\n", "No collisions found.\n", "Search was successful, collision-free solution found.\n" ] }, { "data": { "text/plain": [ "[[np.float64(-0.0015), np.float64(0.0015)],\n", " [np.float64(0.0015), np.float64(-0.0015)],\n", " [np.float64(0.0015), np.float64(-0.0015)],\n", " [np.float64(-0.013522695085620425), np.float64(-0.010522695085620426)]]" ] }, "execution_count": 12, "metadata": {}, "output_type": "execute_result" } ], "execution_count": 12 }, { "cell_type": "markdown", "metadata": {}, "source": [ "The animated mechanism can be seen on the GIF bellow.\n", "\n", "![Mechanism](figures/mech_quadratic.gif \"Mechanism\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Generation of physical parameters\n", "\n", "The following line can obtains Denavit-Hartenberg parameters and joint connection parameters for pre-prepared CAD models. The scale=1000 argument scales the length by 1000 units to change from meters to millimeters." ] }, { "cell_type": "code", "metadata": { "ExecuteTime": { "end_time": "2026-06-01T12:59:18.596655Z", "start_time": "2026-06-01T12:59:18.584951Z" } }, "source": [ "design_parameters = mechanism.get_design(scale=1000, unit='deg')" ], "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Denavit-Hartenberg parameters and connection points parameters:\n", "---\n", "Link 0: d = 0.000000000000, a = 68.274374144472, alpha = 128.164082452496\n", "cp_0 = -0.003930034765, cp_1 = -0.012675053357\n", "---\n", "Link 1: d = 0.000000000000, a = 82.009314425718, alpha = 109.193213394822\n", "cp_0 = -0.033675053357, cp_1 = -0.123707190060\n", "---\n", "Link 2: d = -0.000000000000, a = 68.274374144472, alpha = 128.164082452496\n", "cp_0 = -0.102707190060, cp_1 = 0.018406607253\n", "---\n", "Link 3: d = -0.000000000000, a = 82.009314425718, alpha = 109.193213394822\n", "cp_0 = -0.002593392747, cp_1 = -0.024930034765\n", "======\n", "Points which define the joint axes of mechanism in the world frame, at home configuration. Note that joint0 and jointN are part of the base_link joints:\n", "Joint 0:\n", " pt0 = [26.263172980572, 24.882073222352, -70.406432037080],\n", " pt1 = [22.758825204109, 43.763613027380, -61.908961751594]\n", "Joint 1:\n", " pt0 = [-3.782879537964, 76.949490357191, -117.526303731011],\n", " pt1 = [-21.818589885550, 84.657411841013, -110.022897927165]\n", "Joint 2:\n", " pt0 = [68.540471224932, -3.575366597281, -10.261651024297],\n", " pt1 = [65.036123448469, 15.306173207748, -18.759121309782]\n", "Joint 3:\n", " pt0 = [78.705386485712, 75.896326250587, -115.478390646948],\n", " pt1 = [60.669676138125, 83.604247734409, -122.981796450794]\n" ] } ], "execution_count": 10 }, { "cell_type": "markdown", "metadata": {}, "source": [ "To model a linkage of your own, generate CAD STEP model using one of the methods on this site:\n", "https://rational-linkages.readthedocs.io/latest/tutorials/cad.html\n" ] } ], "metadata": { "kernelspec": { "display_name": "rl2", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.11.11" } }, "nbformat": 4, "nbformat_minor": 2 }