Integrate an assembly containing subassemblies into a higher level assembly

[jpg87Fr]

Hello Realthunder, I went several months without really using FreeCad, including your branch. I have just taken up a question which had been asked on the forum and to which I had stupidly answered that this possibility would be a luxury! https://forum.freecadweb.org/viewtopic.php?p=448913#p448913

As you answered that you had an idea, were you able to develop it? Have you added a property that allows you to integrate into a global assembly not only sub-assemblies as kinematic equivalence classes (a single block), but also sub-assemblies themselves containing kinematic equivalence classes (therefore mobile between them) without blocking everything?

As an example, I propose the Theo Jansen Sand Walker, which I believe is the mechanism offered in your wiki as an example skeleton sketch.

In this post, https://forum.freecadweb.org/viewtopic.php?p=536291#p536291

Zolko makes this system work in Assembly 4, and it would be great to find a way to make it work in Assembly 3 too Pieces_TheoJansen_LinkBranch.zip .

[bambukouk]

Easy to make one work:

File showing the way I did it (different to you @jpg87Fr :+1: ) attached below: legs(bambuko)07.zip

but I agree with all of you - how do you do top level assembly using (variant?) links?

later edit: and for kicks two legs together (but that's as far I can go at the moment :-1: )

and a file to play with: legs_pair(bambuko)05.zip

[jpg87Fr]

There is no problem since everything happens in the same assembly: all your kinematic equivalence classes are at the same level.

[bambukouk]

Yes, I know... Let's hope that @realthunder can magic some way of overcoming this limitation?