XL L L Yl L L: Cos Cos Cos Sin Sin Sin

x = l1cos 1 + l 2 cos( 1 + 2) + l 3 cos( 1 + 2 + 3)
y = l1sin 1 + l 2 sin( 1 + 2) + l 3sin( 1 + 2 + 3)
1
0
2
l3
3
l1S 23+l 2S 3
l 2S 3
vx
=
vy l1C 23+l 2C 3+l 3 l 2C 3+l 3

x = l1cos 1 + l 2 cos( 1 + 2) + l 3 cos( 1 + 2 + 3) ( 1)
y = l1sin 1 + l 2 sin( 1 + 2) + l 3sin( 1 + 2 + 3) ( 2 )
arranging and squaring ( 1) & ( 2 ) we have

...
...
...
( x l1 cos 1) = (
2
y
l
1
sin
1
=(
)
(
2
...
l 2 cos( 1 + 2) + l 3 cos( 1 + 2 + 3)
l 2 sin( 1 + 2) + l 3sin( 1 + 2 + 3)
( 3)
( 4)
from (3) &(4) we have

...........
.......
...
x2 + y2 + l 21 2l1( xC1 + yS1) = l 2 2 + l 2 3 + 2l 2l 3C 3 (5)

equation (5) can be written as
....
....
.....
....
....
x 2 + y 2 +l 21l 2 2 l 2 32l1( xC1+ yS1)

cos 3 =
(6)
2l 2l 3
= C 0 + C1t;
where C 0 + C1 = 1
(assume C 0 = 0.5, C1 = 0.5)
.........
...........
= C 0 + C1t + C 2t 2 ;
where C 0 + C1 + C 2 = 1.
(assume C 0 = 0.3, C1 = 0.3, C 2 = 0.4)
.........
...........
= C 0 + C1t + C 2t 2 + C 3t 3;
where C 0 + C1 + C 2 + C 3 = 1.
(assume C 0 = 0.3, C1 = 0.3, C 2 = 0.3,C 3 = 0.1)
..........
...........
Also = 1 + 2 + 3;
.............
yn(l1+l 2 cos 2) xnl 2 sin 2

1 = tan 1
;
xn(l1+l 2 cos 2)+ ynl 2 sin 2
2
2
2
2 2
x
n
+
y
n
l
1
l
2
1
2l1l 2
1
2 = tan
;
2
2
2
2
xn + yn l1 l 2

2
l
1
l
2

3 = ( 1 + 2);
= C 0 + C1t;
C 0 = 0.5;
C1 = 0.5;
................................................................................................................
0.5
1.5
2.5
2.828
2.828
1.5
2.5
0.2
0.4
0.6
0.8
-27.91
-23.22
-16.25
-9.07
-0.648
18.146
41.47
40.6
37.88
32.93
24.58
1.991
15.1
39.94
64.35
90.78
119.368
151.823
4.69
6.97
7.18
8.422
18.7994
-0.87
-2.72
-4.95
-8.35
-22.539
24.84
24.41
26.43
28.588
32.455
graph1
Joint angles
Series1
180
160
140
120
100
80
60
40
20
0
-20
-40
Series2
Series3
Series1 -27.91 -23.22 -16.25

40.6
37.88
Series2 41.47
15.1
Series3
39.94
64.35
-9.07
-0.648 18.146
32.93
24.58
1.991
90.78 119.37 151.82
Time in seconds
graph2
Series1
Series2
Series3
40
Joint velocities
30
20
10
0
-10
-20
-30
Series1
4.69
6.97
7.18
8.422
18.794
Series2
-0.87
-2.72
-4.95
-8.35
-22.589
Series3
24.84
24.41
26.43
28.588
32.455
Time in seconds
= C 0 + C1t + C 2t 2
C 0 = 0.3;
C1 = 0.3;
C 2 = 0.4;
............................................................................................................
0.3
2.5
4.8
7.9
11.8
2.828
2.5
4.8
7.9
11.8
0.2
0.4
0.6
0.8
1.0
-27.91
-23.22
-16.25
-9.07
-0.64
18.146
41.465
40.5889
37.870
32.9236
24.5779
1.9914
3.635
39.931
121.63
251.184
428.733
656.003
-4.69
-6.97
-7.18
-8.43
-18.786
0.8761
2.7189
4.9464
8.3456
22.586
-36.296
-81.699
-129.554
-177.549
-227.27
graph3
t2
Series1
Series2
Series3
700
600
Joint angles
500
400
300
200
100
0
-100
Series1 -27.91 -23.22 -16.25 -9.07 -0.64 18.146

Series2 41.465 40.589 37.87 32.924 24.577 1.9914
Series3
3.635 39.931 121.63 251.18 428.73
656
Time in seconds
graph4 t2
Series1
Series2
Series3
50
Joint velocities
0
-50
-100
-150
-200
-250
Series1
-4.69
-6.97
-7.18
-8.43
-18.786
Series2
0.876
2.718
4.946
8.345
22.586
Series3
-36.296
-81.699 -129.554 -177.549 -227.27

Time in seconds
= C 0 + C1t + C 2t 2 + C 3t 3
C 0 = 0.3;
C1 = 0.3;
C 2 = 0.3;
C 3 = 0.1;
.......................................................................................................
0.3
2.9
6.6
12.7
21.8
2.828
2.9
6.6
12.7
21.8
0.2
0.4
0.6
0.8
1.0
-27.91
-23.22
-16.25
-9.07
-0.64
18.146
41.465
40.5889
37.870
32.9236
24.5779
1.9914
17.188
57.2957
166.157
378.152
727.658
1249.04
4.69
6.97
7.18
8.43
18.786
-0.8761
-2.7189
-4.9464
-8.3457
-22.586
40.1077
108.86
211.995
349.506
521.39
graph5 t3
Series1
Series2
Series3
1400
1200
Joint angles
1000
800
600
400
200
0
-200
Series1 -27.91 -23.22 -16.25 -9.07 -0.64 18.146

Series2 41.465 40.589 37.87 32.923 24.578 1.994
Series3 17.188 57.295 166.16 378.15 727.65 1249
Time in seconds
graph6 t3
Series1
Series2
Series3
600
Joint velocities
500
400
300
200
100
0
-100
Series1
4.69
6.97
7.18
8.43
18.786
Series2 -0.8761 -2.7189 -4.946 -8.3457 -22.586

Series3 40.1077 108.86 211.995 349.506 521.39
Time in seconds

XL L L Yl L L: Cos Cos Cos Sin Sin Sin

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Copyright:

Verfügbare Formate

XL L L Yl L L: Cos Cos Cos Sin Sin Sin

Hochgeladen von

Copyright:

Verfügbare Formate

x = l1cos 1 + l 2 cos( 1 + 2) + l 3 cos( 1 + 2 + 3)

y = l1sin 1 + l 2 sin( 1 + 2) + l 3sin( 1 + 2 + 3)

x = l1cos 1 + l 2 cos( 1 + 2) + l 3 cos( 1 + 2 + 3) ( 1)

y = l1sin 1 + l 2 sin( 1 + 2) + l 3sin( 1 + 2 + 3) ( 2 )

arranging and squaring ( 1) & ( 2 ) we have

from (3) &(4) we have

x2 + y2 + l 21 2l1( xC1 + yS1) = l 2 2 + l 2 3 + 2l 2l 3C 3 (5)

x 2 + y 2 +l 21l 2 2 l 2 32l1( xC1+ yS1)

yn(l1+l 2 cos 2) xnl 2 sin 2

xn(l1+l 2 cos 2)+ ynl 2 sin 2

Series1 -27.91 -23.22 -16.25

90.78 119.37 151.82

Series1 -27.91 -23.22 -16.25 -9.07 -0.64 18.146

3.635 39.931 121.63 251.18 428.73

-81.699 -129.554 -177.549 -227.27

Series1 -27.91 -23.22 -16.25 -9.07 -0.64 18.146

Series2 -0.8761 -2.7189 -4.946 -8.3457 -22.586

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