PLANINATOR SOFTWARE INSTRUCTIONS
Download and unzip "planinator.zip" to a folder of your choice.

Open Matlab(TM) 6.5 or higher (7.0 Recommended)

Set the "Current Directory" to the newly unzipped Planinator folder

Run PLANINATOR.M in the Matlab(TM) software environment by typing "planinator" in the command line and pressing enter.

Turn your attention to the sliders on the left side of the figure.
Input the initial and final positions of the device using the sliders underneath the blue "Position 1" and "Position 2" headings.
(Sample positions:  [2 2 -30], [-4 1 30])

While you input the position information relative to the FIXED FRAME, the GUI will update to show your changes.
When satisfied with your choices for initial and final positions, move on to choosing pivot locations.
Use the sliders underneath the green and red headings to input this information.
(Sample pivot locations:  [-2 -1 -0.5], [1 -1 3])

Once again, as you input the coordinates defining the pivot locations in the FIXED FRAME, the GUI will update to show your changes.
You can choose the X coordinates of the moving pivots, but their Y coordinates are determined by the kinematics of the device.

If the mechanism turns red, the current configuration has a circuit defect.  Change parameters until the mechanism returns to a multicolored state.

Finally, choose the location of the coupler attatchment point in the FIXED FRAME.
This is where the prismatic actuator will be attatched to the coupler in order to make a PCD4R.
Use the sliders underneath the pink heading to input this information.
(Sample coupler attachment point:  [2 2])

Once you have chosen an acceptable mechanism, click either the "Forward" or "Reverse" buttons choose the direction.
Use the "Centrode" button to find the centrode in the FIXED FRAME.  Keep the coupler attatchment point away from the centrode.
Use the "Animate" button to see the mechanism move from the first position to the second position.
IMPORTANT!
While the mechanism is moving through its range of motion, refrain from pressing any buttons.
DO NOT CLOSE THE WINDOW DURING THE ANIMATION SEQUENCE.
Depending on your processor speed and mechanism choice, this may take a while.  Please be patient.
If a viable mechanism is selected, the mechanism will drive from the first position to the second position.
If a mechanism is chosen with a circuit defect, the user will be notified and the mechanism will not animate.

Use the "RPR Leg" button to determine the possible locations for a prismatic actuator to be attatched.
A figure window will open and begin to shade red in certain areas.
The red space represents the places on the sphere where a prismatic actuator is NOT viable for the chosen coupler point.

When it is done building the red NO-ZONE space, choose a point in the remaining white space if possible.  Click once.
A second window will open, showing the distance from the chosen point to the coupler point over the range of motion of the mechanism.
If a good point is chosen, the graph will show the distance monotonically increasing or decreasing.
If a bad point is chosen, the graph will show local extrema.

Once the plot is completed, please CLOSE BOTH FIGURE WINDOWS.
After this is completed, you may continue to work with the planinator program.

Please report any errors to Eric Grimm at grimmerm@notes.udayton.edu
Thank you and enjoy.