Scribd Logo
Hochladen

Willkommen bei Scribd!

  • Robo 3 DFDFDFDFD

    Hochgeladen von

    vinoo13
    4 Ansichten2 Seiten
    dffdfdd

    Originaltitel

    robo3dfdfdfdfd

    Copyright

    © Attribution Non-Commercial (BY-NC)

    Verfügbare Formate

    PDF, TXT oder online auf Scribd lesen

    Stufen Sie dieses Dokument als nützlich ein?

    Sind diese Inhalte unangemessen?

    Dieses Dokument melden
    dffdfdd

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Als PDF, TXT herunterladen oder online auf Scribd lesen
    Markieren Sie unangemessene Inhalte
    4 Ansichten2 Seiten

    Robo 3 DFDFDFDFD

    Hochgeladen von

    vinoo13
    dffdfdd

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Als PDF, TXT herunterladen oder online auf Scribd lesen
    Markieren Sie unangemessene Inhalte
    von 2

    L1 = L2 = 1

    1
    m1 = m2 = 12.456
    12.456
    r1 = 0.773
    0.773
    r2 = 0.583
    0.583
    I1 = I2 = 1.042
    M = 88I1 + I2 + m2 * L1 ^ 2 + m1 * r1 ^ 2 + m2 * r2 ^ 2 + 2 * m2 * L1 * r2 * Cos@2@tDD,
    I2 + m2 * r2 ^ 2 + m2 * L1 * r2 * Cos@2@tDD<,
    8I2 + m2 * r2 ^ 2 + m2 * L1 * r2 * Cos@2@tDD, I2 + m2 * r2 ^ 2<<
    8826.2165 + 14.5237 Cos@2@tDD, 5.27566 + 7.26185 Cos@2@tDD<,
    85.27566 + 7.26185 Cos@2@tDD, 5.27566<<
    T = 88- m2 * L1 * r2 * Sin@2@tDD * H2 * 1 @tD + 2 @tDL * 2 @tD<, 8m2 * L1 * r2 * Sin@2@tDD * 1 @tD ^ 2<<
    98- 7.26185 Sin@2@tDD 2 @tD H2 1 @tD + 2 @tDL<, 97.26185 Sin@2@tDD 1 @tD2 ==
    c1 = 880.01 1 @tD<, 80.01 2 @tD<<
    880.01 1 @tD<, 80.01 2 @tD<<
    g = 9.81
    9.81
    p = 88m2 * g * HL1 * Cos@1@tDD + r2 * Cos@1@tD + 2@tDDL + m1 * g * r1 * Cos@1@tDD<,
    8m2 * r2 * g * Cos@1@tD + 2@tDD<<
    8894.4555 Cos@1@tDD + 122.193 HCos@1@tDD + 0.583 Cos@1@tD + 2@tDDL<,
    871.2387 Cos@1@tD + 2@tDD<<
    n = Inverse@MD
    ::

    - 5.27566 - 7.26185 Cos@2@tDD

    5.27566
    ,
    2

    110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD2

    110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD


    :

    - 5.27566 - 7.26185 Cos@2@tDD

    26.2165 + 14.5237 Cos@2@tDD


    ,
    2

    110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD

    110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD2

    >,
    >>

    robo3.nb

    v = n.H- c1 - T - pL
    99IH- 5.27566 - 7.26185 Cos@2@tDDL

    I- 71.2387 Cos@1@tD + 2@tDD - 7.26185 Sin@2@tDD 1 @tD2 - 0.01 2 @tDMM

    I110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD2 M +

    H5.27566 H- 94.4555 Cos@1@tDD - 122.193 HCos@1@tDD + 0.583 Cos@1@tD + 2@tDDL 0.01 1 @tD + 7.26185 Sin@2@tDD 2 @tD H2 1 @tD + 2 @tDLLL

    I110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD2 M=, 9IH26.2165 + 14.5237 Cos@2@tDDL


    I- 71.2387 Cos@1@tD + 2@tDD - 7.26185 Sin@2@tDD 1 @tD2 - 0.01 2 @tDMM

    I110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD2 M + HH- 5.27566 - 7.26185 Cos@2@tDDL


    H- 94.4555 Cos@1@tDD - 122.193 HCos@1@tDD + 0.583 Cos@1@tD + 2@tDDL 0.01 1 @tD + 7.26185 Sin@2@tDD 2 @tD H2 1 @tD + 2 @tDLLL

    I110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD2 M==

    Det@8826.216478607999996` + 14.523696` Cos@2@tDD, 5.275657383999999` + 7.261848` Cos@2@tDD<,


    85.275657383999999` + 7.261848` Cos@2@tDD, 5.275657383999999`<<D
    110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD2

    SimplifyA9IH26.216478607999996` + 14.523696` Cos@2@tDDL

    I- 71.23872888` Cos@1@tD + 2@tDD - 7.261848` Sin@2@tDD 1 @tD2 - 0.01` 2 @tDMM

    I110.47659811741948` + 0.` Cos@2@tDD - 52.734436375103996` Cos@2@tDD2 M +

    HH- 5.275657383999999` - 7.261848` Cos@2@tDDL


    H- 94.45546728000001` Cos@1@tDD - 122.19336` HCos@1@tDD + 0.583` Cos@1@tD + 2@tDDL 0.01` 1 @tD + 7.261848` Sin@2@tDD 2 @tD H2 1 @tD + 2 @tDLLL
    I110.47659811741948` + 0.` Cos@2@tDD - 52.734436375103996` Cos@2@tDD2 M=E

    1
    110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD2

    IH26.2165 + 14.5237 Cos@2@tDDL

    I- 71.2387 Cos@1@tD + 2@tDD - 7.26185 Sin@2@tDD 1 @tD2 - 0.01 2 @tDM +

    H- 5.27566 - 7.26185 Cos@2@tDDL I- 216.649 Cos@1@tDD - 71.2387 Cos@1@tD + 2@tDD +


    7.26185 Sin@2@tDD 2 @tD2 + 1 @tD H- 0.01 + 14.5237 Sin@2@tDD 2 @tDLMM>

    SimplifyA9IH- 5.275657383999999` - 7.261848` Cos@2@tDDL

    I- 71.23872888` Cos@1@tD + 2@tDD - 7.261848` Sin@2@tDD 1 @tD2 - 0.01` 2 @tDMM

    I110.47659811741948` + 0.` Cos@2@tDD - 52.734436375103996` Cos@2@tDD2 M +

    H5.275657383999999` H- 94.45546728000001` Cos@1@tDD 122.19336` HCos@1@tDD + 0.583` Cos@1@tD + 2@tDDL 0.01` 1 @tD + 7.261848` Sin@2@tDD 2 @tD H2 1 @tD + 2 @tDLLL

    I110.47659811741948` + 0.` Cos@2@tDD - 52.734436375103996` Cos@2@tDD2 M=E

    1
    110.477 + 0. Cos@2@tDD - 52.7344 Cos@2@tDD2

    I- 1142.96 Cos@1@tDD + 0. Cos@1@tD + 2@tDD + 517.325 Cos@2@tDD Cos@1@tD + 2@tDD +

    H38.311 Sin@2@tDD + 26.3672 Sin@2 2@tDDL 1 @tD2 + H0.0527566 + 0.0726185 Cos@2@tDDL 2 @tD +
    38.311 Sin@2@tDD 2 @tD2 + 1 @tD H- 0.0527566 + 76.622 Sin@2@tDD 2 @tDLM>

    Das könnte Ihnen auch gefallen