KimechΒΆ

Planar mechanism kinematics for Python.

Kimech models planar rigid-body mechanisms declaratively and solves position, velocity, and acceleration kinematics for one-DOF mechanisms with revolute and prismatic joints.

The public workflow is centered on four concepts:

  1. build a Mechanism;

  2. prescribe one coordinate with a KinematicDriver;

  3. call solve();

  4. inspect the resulting KinematicSolution.

from kimech import KinematicDriver, Mechanism, solve

mechanism = Mechanism("example")
# ... add links, points, and joints ...

driver = KinematicDriver(
    crank_joint,
    position=positions,
)

solution = solve(
    mechanism,
    driver=driver,
    initial_guess=initial_guess,
)

Kimech is currently a one-DOF planar R/P kinematics library. Dynamics, multiple simultaneous Drivers, branch enumeration, pseudo-arclength continuation, and motion-law objects are outside the 0.6.0 scope.

Getting started

User guide

Reference