# Mechanism travel envelope
# Scope: Two-link planar arm radial reach envelope; no collision checking.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

linkA = 200 mm
linkB = 150 mm
targetRadius = 250 mm

outerRadius := linkA+linkB [mm]
innerRadius := abs(linkA-linkB) [mm]

check target in annulus: targetRadius >= innerRadius
check target outer reach: targetRadius <= outerRadius

scenario alternative: linkA = 160 mm