Examples

The repository includes executable examples in the examples/ directory.

Four-bar

examples/four_bar.py demonstrates position solving and animation for a classical four-bar linkage.

examples/four_bar_analysis.py adds angular velocity, angular acceleration, and coupler-point differential kinematics.

Slider-crank

examples/slider_crank.py demonstrates a crank-slider mechanism.

examples/slider_crank_analysis.py shows differential analysis and also demonstrates prescribing the prismatic coordinate instead of the crank angle.

examples/slider_crank_analysis_comparison.py compares Kimech against an independent closed-form slider-crank solution.

More demanding studies

The playground/ directory contains larger mechanisms and numerical studies, including Whitworth, Watt six-bar, Klann, Theo Jansen, scale robustness, singularity diagnostics, and branch-continuity experiments. These are valuable engineering studies but are intentionally separate from the compact public user guide.