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Mechanical Linkages

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Anyone built multiple pivot mechanical linkages in Houdini?
How would you IK this? 

I guess you could just mathematically constrain everything... but then you're working backwards from a known to make it work, as opposed to just arbitrarily connecting and changing pivots and lengths, and then seeing the result.

I included a pic, not sure if it'll show up.  If not, it's just an umbrella arm.

image.png.9c1d6c714142029ddd0a712e04403a62.pngPin by Alex H on Zappos Box Art Car - Delivering Happiness | Mechanical design, Umbrella ...

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