CAD of Rational Motions (Supplementary Material)

Supplementary material for the paper Computer-aided Design of Rational Motions for 4R and 6R Spatial Mechanism Synthesis submitted to conference ARK 2026. The supplementary material consists of a video demonstrating the usage of the developed Motion Designer tool, which is part of the Rational Linkages package, links to implementation, and example script. Video View it bellow in the preview tab in your web browser, or click on CAD_of_RM.mp4 file to download the video. Software installation and usage The methods were implemented in the Rational Linkage package version 2.4 or higher. In your Python 3.10 or higher environment, install the library from PyPI using pip: pip install rational-linkages To start the interactive Motion Designer tool shown in the video, run the file example.py or execute these two commands directly in Python console: from rational_linkages import MotionDesigner MotionDesigner.start() Implementation The interpolation methodologies are implemented in Rational Linkages package in class MotionInterpolation. The interactive motion CAD tool is part of the MotionDesigner class. See them hosted on Gitlab repository of the University of Innsbruck: Motion Interpolation source code: https://git.uibk.ac.at/geometrie-vermessung/rational-linkages/-/blob/main/python/rational_linkages/MotionInterpolation.py Motion Designer source code: https://git.uibk.ac.at/geometrie-vermessung/rational-linkages/-/blob/main/python/rational_linkages/MotionDesigner.py Resources Documentation and tutorials: rational-linkages.readthedocs.io Source code: git.uibk.ac.at/geometrie-vermessung/rational-linkages PyPI library: pypi.org/project/rational-linkages