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Rsolution en cinmatique
z
1
A
V1L/ 0A
VA1L/B0
}=
A vA
A 0
= VB1L/B0
V1L/ B0
}=
A, B0
+ AB 1L/B0
B
B
vB
0
0
d
x
B , B0
B
u B + d . B
vB
= vB + d B =
0
0
B
d B
uB
{ } = {V }
L
V1 /eq0
LA
1/0
Do :
A uA
= A vA
A 0
LB
1/ 0
A, B0
{ }=
L
V1 /eq0
d B = 0
{V }
eq
eq
ueq
veq
0
B u B + d . B
vB
= B
B
d B
A, B0
A, B0
(Rem: YA et XB >0)
V1L/ 0A
A uA
= A 0
A wA
V1L/ B0
A, B0
B
= B
B
B
0
vB
wB
x
B , B0
{ }
L
V1 /eq0
eq
= eq
eq
0
0
weq
A, B0
{V }
LO
1/ 0
0
0
wO
{V }
LE
1/0
O , B0
E
= E
E
= VE1L/E0
+ OE 1L/E0
E , B0
VO1L/E0
0
0
wE
O
= O
O
d E
E
= 0 + 0 E = d E
wE
d
E
wE
{ }=
L
V1 /eq0
0
0
0
0
weq
eq
V1L/ A0
A uA
= A vA
A 0
V1L/ B0
A, B0
B uB
= B vB
B 0
V1L/ C0
B , B0
B
uB
VA1L/B0 = VB1L/B0 + AB 1L/B0 = v B + 0 B = v B b B
0
B
b B
0
0
C
uC + c. C
uC
LC
LC
LC
VA1 / 0 = VC1 / 0 + AC 1 / 0 = vC + c C =
vC
c C
0
0
C
On en dduit b B = 0 et c C = 0.
Les torseurs cinmatiques sont gaux do eq = eq = 0
On en dduit :
{ }=
L
V1 /eq0
0
0
eq
}=
uC
C
C
vC
0
ueq
veq
0
A, B0
C, B0
A
0
B
x
c
b
{V }=
LA
1/0
A 0
A 0
{V }
LB
1/0
A, B0
B 0
= B vB
B 0
z
A
AO = OB = d y
B , B0
A
d A
= 0 + d A = 0
0
A
d A
0
VO1L/A0
B
d B
= vB + d B = vB
0
0
B
d B
0
VO1L/B0
A = B et d A = d B
A = B = 0
A = B et d A = d B
A = B =0
Enfin on voit que vB = 0 et que seul A = B est non nul.
Do :
{ }=
L
V1 /eq0
eq 0
0
{ V }=
LA
1/ 0
A
0
VO1L/A0
= VA1L/A0
uA
0
wA
{V }
LO
1/ 0
A, B0
+ OA 1L/A0
O 0
= O vO
O 0
uA
0
O , B0
uA
0 +d y A z = 0
wA
wA
O = 0 O = 0 u A = 0 vO = 0 wA = 0
L encore, seul O = A est non nul.
Do :
{ }=
L
V1 /eq0
eq 0
0
{ V }=
LB
1/ 0
{V }=
LA
1/0
B vB
0
A vA
A 0
B , B0
= VA1L/A0
+ BA 1L/A0
0
A
A, B0
On transporte la ponctuelle en B
VB1L/A0
A
uA
= v A + 0 A = v A d A
0
0
A
d A
uA
A = 0 d A = 0 A = 0 u A = 0 wA = 0
{ }=
L
V1 /eq0
0 veq
0 0
{V }=
LB
1/ 0
B
0
vB
wB
{V }=
Appui plan
de normale ( A, z )
0 uA
LA
1/ 0
B ,B0
vA
0
A,B0
AB = -a x + b z
VB1L/A0
= VA1L/A0
+ BA 1L/A0
uA
uA
= v A + 0 0 = v A a A
B = 0 B = 0 A = 0 u A = 0 wB = 0
{ }=
L
V1 /eq0
0 veq
0 0