The present paper applies this approach to contribute

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Unformatted text preview: S2 ⎟ ⎜ ⎟ ⎜ Uty 2S2 ⎟ ⎜ 24.75lrx 2S2 - 56.57lry1S2 - 2ltz1S2 + ltz 2S2 + 24.75rx 2S2 - 56.57ry1S2 - 2tz1S2 + tz 2S2 ⎟ ⎜ Urz 3S2 ⎟ ⎜ -lry3S2 + 2lry1S2 + 2ry1S2 - ry3S2 ⎟ ⎜ Utx 3S2 ⎟ ⎜ ⎜ Uty ⎟ ⎜ 25lrx1S2 + 5lrx 2S2 + 15lry1S2 + 35.36lry 2S2 + 3.54lry3S2 + ltz1S2 - 2ltz 2S2 + 25rx1S2 + 5rx 2S2 + 15ry1S2 + 35.36ry 2S2 + 3.54ry3S2 + tz1S2 - 2tz 2S2 ⎟ 3S2 ⎠ ⎝ ⎜ ⎟ -35.36lrx1S2 -3.54lrx 3S2 - 2ltz1S2 +ltz3S2 -35.36rx1S2 -3.54rx 3S2 - 2tz1S2 +tz3S2 ⎝ ⎠ The choice of the driving link parameters is obtained classifying the 9 link parameters taking into account the hierarchy of connections: LHP[1]={lrx1S2, lry1S2, ltz1S2}, LHP[2]={lrx2S2, lry2S2, ltz2S2} LHP[3]={lrx3S2, lry3S2, ltz3S2} The first 3 parameters are kept. Then, using compatibility equations step by step, we keep those that are not linked to the former one. We thus obtain: LHP[1]={lrx1S2, lry1S2, ltz1S2}, LHP[2]={lry2S2, ltz2S2}, LHP[3]={ltz3S2} and TS2,P ⎧ lrx1S2 + rx1S2 ⎪ ⎪ = ⎨lrx1S2 + 1.414 lry 2S2 + rx1S2 + 1.414 ry 2S2 ⎪ -lry1S2 - ry1S2 ⎪ ⎩ -25lrx1S2 - 4...
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This note was uploaded on 08/03/2010 for the course DD 1234 taught by Professor Zczxc during the Spring '10 term at Magnolia Bible.

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