Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom ...
Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom ...
Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom ...
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LL:= L1 ← 0<br />
LL<br />
M 1<br />
N 1<br />
L 2<br />
M 2<br />
N 2<br />
for<br />
L<br />
← 0<br />
← 1<br />
←<br />
←<br />
← 0<br />
a1 k<br />
b1 k<br />
c1 k<br />
cos ( v)<br />
sin( v)<br />
k∈3.. 5<br />
L k<br />
M k<br />
N k<br />
←<br />
←<br />
←<br />
←<br />
←<br />
←<br />
simplify<br />
collect, sin( v)<br />
substitute , α5 ( )<br />
( M k−2⋅Nk−1 − Nk−2⋅Mk−1) sin α k<br />
( Nk−2⋅Lk−1 − Lk−2⋅Nk−1) sin( α k)<br />
( Lk−2⋅Mk−1 − M k−2⋅Lk−1) a1k sin( α k)<br />
b1 k<br />
c1 k<br />
→<br />
π<br />
2<br />
( )<br />
( )<br />
( )<br />
⋅ + Lk−2⋅cos α k<br />
⋅ + M k−2⋅cos α k<br />
⋅ + Nk−2⋅cos α k<br />
Figure B.1 – MathCAD Program to Find Unit Vector Expressions<br />
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