2
$\begingroup$

I have a code that was to simulate a mechanical arm, but something is not right.

What would be the solution so that i can get the animation?

Clear["Global`*"];
BezierCircleArc[{x_,y_},r_,{θ1_,θ2_}]:=Module[{α,p0,p1,p2,p3},α=4/3 Tan[(θ2-θ1)/4];
p0={x,y}+r {Cos[θ1],Sin[θ1]};
p3={x,y}+r {Cos[θ2],Sin[θ2]};
p1=p0+α r {-Sin[θ1],Cos[θ1]};
p2=p3+α r {Sin[θ2],-Cos[θ2]};
BezierCurve[{p0,p1,p2,p3}]];
claws={EdgeForm[Black],GrayLevel[0.84],FilledCurve[{BezierCircleArc[{plenghtArmAnim[[#]]+16.8,0},rClaws=20,claw1a={0.8,2.9}],BezierCircleArc[{plenghtArmAnim[[#]]-5,5.6},2.5,claw1b={6.03-2*Pi,2.9-2*Pi}][[1;;All,2;;All]],BezierCircleArc[{plenghtArmAnim[[#]]+16.8,0},25,Reverse[claw1a]-2*Pi][[1;;All,2;;All]],BezierCircleArc[{plenghtArmAnim[[#]]+32.54,16.07},2.5,claw1c={0.8,-2.35}][[1;;All,2;;All]]}]};
robot={GeometricTransformation[{{BezierCircleArc[{plenghtArmAnim[[#]]+16.8,0},20,{2.57,3.72}],Line[{{0,12.5},{plenghtArmAnim[[#]],12.5},{plenghtArmAnim[[#]],12.5},{plenghtArmAnim[[#]],10.87}}],Line[{{0,-12.5},{plenghtArmAnim[[#]],-12.5},{plenghtArmAnim[[#]],-12.5},{plenghtArmAnim[[#]],-10.87}}],{EdgeForm[Black],GrayLevel[0.84],Disk[armCenter={0,0},18]},{EdgeForm[Black],GrayLevel[0.50],Disk[armCenter={0,0},6]}},u=GeometricTransformation[claws,{RotationTransform[0 Degree,{85,5.6}]}],GeometricTransformation[u,ReflectionTransform[{0,1},{85,0}]]},RotationTransform[initialPosition=angListAnim[[#]] Degree,{0,0}]]};
Flatten@@Table[Graphics[robot],1]&/@Range[300];
Export["C:\Users\JP\Desktop\animation.gif",%]

The data here are:

angListAnim

plenghtArmAnim

$\endgroup$
1
$\begingroup$

Try do this:

Flatten @@ 
    Table[Graphics[{GeometricTransformation[{{BezierCircleArc[{plenghtArmAnim[[#]] + 16.8, 0}, 20, {2.57, 3.72}], 
          Line[{{0, 12.5}, {plenghtArmAnim[[#]], 12.5}, {plenghtArmAnim[[#]], 12.5}, {plenghtArmAnim[[#]],10.87}}], 
          Line[{{0, -12.5}, {plenghtArmAnim[[#]], -12.5},{plenghtArmAnim[[#]], -12.5}, {plenghtArmAnim[[#]], -10.87}}],{EdgeForm[Black], GrayLevel[0.84], 
           Disk[armCenter = {0, 0}, 18]}, {EdgeForm[Black], 
           GrayLevel[0.5], Disk[armCenter = {0, 0}, 6]}}, 
         u = GeometricTransformation[{EdgeForm[Black], 
            GrayLevel[0.84], 
            FilledCurve[{BezierCircleArc[{plenghtArmAnim[[#]] + 16.8, 
                0}, rClaws = 20, claw1a = {0.8, 2.9}], 
              BezierCircleArc[{plenghtArmAnim[[#]] - 5, 5.6}, 2.5, 
                claw1b = {6.03 - 2*Pi, 2.9 - 2*Pi}][[1 ;; All, 
                2 ;; All]], 
              BezierCircleArc[{plenghtArmAnim[[#]] + 16.8, 0}, 25, 
                Reverse[claw1a] - 2*Pi][[1 ;; All, 2 ;; All]], 
              BezierCircleArc[{plenghtArmAnim[[#]] + 32.54, 16.07}, 
                2.5, claw1c = {0.8, -2.35}][[1 ;; All, 
                2 ;; All]]}]}, {RotationTransform[
             0*Degree, {85, 5.6}]}], 
         GeometricTransformation[u, 
          ReflectionTransform[{0, 1}, {85, 0}]]}, 
        RotationTransform[
         initialPosition = angListAnim[[#]]*Degree, {0, 0}]]}], 1] & /@
   Range[300];
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.