Advanced Engineering Dynamics 2010 Part 12 pdf

... Fig. 8.26) is T = - m,(a6)’ + 124 + m3[(d3 - b),g + ai] + 13% 2 l{ .,I For qi = 8, aT = [rn2a2 + 1, + I~ + m,[(d3 - b12]i2 8% - = [rn, + I* + I, + ... The inertia matrix for link 2 is 0 0 [J12 = () I 0 similarly for link 3 0 0 8.8 4 0 0 4.9 -3 4 20 :I -3 10 Ej 2 14 Robot ann dynamics A14 = a, COS O4 + d6 COS ....

Ngày tải lên: 10/08/2014, 20:20

... a group of particles 15 1.13 Newton's laws for a group of particles Consider a group of n particles, three of which are shown in Fig. 1.1 1, where the ith parti- cle has ... on the particle is the vector sum of the forces due to each other particle in the group and the resultant of the external forces. If & is the force on particle i due to particle ......

Ngày tải lên: 10/08/2014, 20:20

... then the kinetic energy of the body for motion relative to the centre of mass T, is 121 212 2 2 TG = -40, + -i-Zvo.v + -AmZ , see section 4.5 48 Hamilton 's principle ... the first term in the integral by parts gives By the definition of q the first term vanishes on account of q being zero at t, and at t2, so P 12 Now q is an arbitrary fimc...

Ngày tải lên: 10/08/2014, 20:20

... = -10 12 + mR'y2(? + of + o 2 which in the absence ofexternal forces is-constant. The constant may be equated to the initial conditions when o = oo. Thus 1 12 Dynamics ... integrating gives L' -12. dA - r0 =- 22 dt L' ba t = A = -(0 - esinca) 2 2 Using equations (5.37) and (5.38) Fig. 5.1 1 110 Dynamics of vehicles Fig. .....

Ngày tải lên: 10/08/2014, 20:20

... under the action of a constant force X applied to the face at x = 0 as shown in Fig. 6 .12. If we assume that a wave travels into the bar with a speed c then we may use force = ... Equating the two expressions for E gives pvclE = v/c or c2 = Elp as before. Fig. 6 .12 148 Impact and one-dimensional wave propagation Fig. 6.21 Fig. 6.22 Maximum strain at ....

Ngày tải lên: 10/08/2014, 20:20

... au KGA ( dx - 0) = -V2 2 (6 .122 ) (6 .123 ) (6 .124 ) (6 .125 ) It is now possible to eliminate 0 between equations (6 .120 ) and (6 .12 1). Equation (6 .120 ) can be written as 2 2 V.lf ... 1 0, - v.u - - 2 VJI KC, - Equation (6 .12 1) is written as and differentiating partially with respect to x gives (6 .126 ) (6 .127 ) or This is known as the...

Ngày tải lên: 10/08/2014, 20:20

... shall only be con- cerned with the overall dynamics and not with the detail. This is a vast subject area of which dynamics is a substantial and vital part. 8.2 Typical arrangements 8.2.1 CARTESIAN ... SUCCESSIVE ROTATIONS ABOUT FIXED AXES 8 Robot Arm Dynamics 8.1 Introduction In this chapter we examine the way in which three-dimensional dynamics is applied to a sys-...

Ngày tải lên: 10/08/2014, 20:20