tailieunhanh - Electrical Engineering Mechanical Systems Design Handbook Dorf CRC Press 2002819s_11

Tham khảo tài liệu 'electrical engineering mechanical systems design handbook dorf crc press 2002819s_11', kỹ thuật - công nghệ, điện - điện tử phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | -I3 0 0 2I3 2I3 2I3 0 0 I3 0 0 0 0 0 0 0 C D 0 -I3 2I3 2I3 2I3 2I3 0 0 _ 0 I3 0 0 _ _ 0 0 0 0 -2I3 2I3 0 0 2I3 2I3 0 2I3 0 0 0 0 0 0 0 0 E F -2I3 2I3 0 0 2I3 2I3 0 2I3 _ 0 0 0 0_ _ 0 0 0 0 _ 0 0 2I3 2I3 -2I3 2I3 0 2I3 0 0 0 0 0 0 0 0 J G 0 0 2I3 2I3 2I3 2I3 0 2I3 0 0 0 0 _ _ 0 0 0 0 _ Then can be written simply q Ql where the 12nm X 12nm matrix Q is composed of the 12 X 12 matrices A-H as follows Q11 Q21 0 Q22 o 0 M Q Q21 Q21 Q32 Q22 0 Q32 Q32 Q22 0 Q21 Q32 Q32 Q32 q22 _ M 0 Q11 E E B E B E E 0 B n X n blocks of 12 X 12 matrices Q21 D E F 0 D G D E G D E E 12n X 12n matrix A 0 D B D D 0 D E E E E 0 G Q22 BlockDiag . C . C Q32 BlockDiag . J . J 2002 by CRC Press LLC where each Qij is 12n X 12n and there are m row blocks and m column blocks in Q. Appendix provides an explicit expression for the inverse matrix Q which will be needed later to express the tendon forces in terms of q. Equation provides the relationship between the selected generalized coordinates and an independent set of the tendon and rod vectors forming l. All remaining tendon vectors may be written as a linear combination of l. This relation will now be established. The following equations are written by inspection of Figures and where t1n1 Pnl rin1 pi1 and for i l 2 . n j l 2 . m we have t2ij - pij pi j-l r2i j-l j 1 t3ij - p i-1 j pij 4iJ -t3ij riij - pij riij -p i-l j t6j p i 1 j l - pj r2j j m 17ij pij - p i 1 j l j m 8ij - pij riij - pij - -riij - t5ij r2ij t9ij -p i 1 j - pj riij r n t10ij p i 1 j r2 i 1 j pij. For j l we replace t2ij with t2i1 pi1 - p i 1 1- For j m we replace t6ij and t7ij with r 6im P i 1 2 i 1 m pim r2im t p p r t7im pim p i 1 m r2 i 1 m . 0 0 0 0 0 0 0 -I3 n i. Equation has the matrix form I31 0 0 0 0 0 0 0 0 0 0 0 p 0 0 ri n 0 0 0 0 r . 2 Ji j-i 0 0 0 0 0 0 0 0 0 0 0 0 I3 -I 2002 by CRC Press LLC 13 -I3 13 0 0 13 -I3 0 0 0 I3 0 0 I3 -I3 0 0 0 0 -I3 I3 -I3 0 -I3 0 0 0 0 0 0 0 0 0 0 0 p 0 0 0 0 -I3 r1 0 0 0 0 0