Скачать или смотреть RSCR

This is an animation of the RSCR mechanism, a four-bar mechanism with Revolute-Spheric-Cylindric-Revolute chain of joints, and 1DOF. The underlying model in cartesian coordinates is described in the paper J.D. Pryce and N.S. Nedialkov, Another View of Multi-Body Systems Simulation.
The parts AB, BC, and C2D are treated as thin uniform rods. Lines AB and CB are perpendicular to the spines at A and C, respectively, and line C2D is perpendicular to the spines at both C2 and D; line CC2 defines the cylindric joint. This mechanism moves freely with no friction, gravity, or applied forces.