This constraint is expressed by the signed distance

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Unformatted text preview: system gives 3 compatibility equations (degree of over-constraint = 3) lrx 2S2 − lry1S2 + rx 2S2 − ry1S2 ⎛ ⎞ ⎛0⎞ ⎜ ⎟ = ⎜0⎟ lrx1S2 − lrx 3S2 + rx1S2 − rx3S2 ⎜ lrx ⎟ ⎜⎟ ⎝ 1S2 + lry1S2 + 1.414lry 2S2 − 1.414lry3S2 + rx1S2 + ry1S2 + 1.414ry 2S2 − 1.414ry3S2 ⎠ ⎝ 0 ⎠ and the expression of the 9 undetermined link parameters function of the link and defects parameters. ⎛ ⎞ lry1S2 + ry1S2 - 2lry3S2 + 2ry3S2 ⎟ ⎛ Urz1S2 ⎞ ⎜ ⎜ Utx1S2 ⎟ ⎜ 25lrx1S2 + 5lrx 2S2 + 45lry1S2 + 35.36lry 2S2 - 35.36lry3S2 + ltz1S2 - 2ltz 2S2 + 25rx1S2 + 5rx 2S2 + 45ry1S2 + 35.36ry 2S2 - 35.36ry3S2 + tz1S2 -2tz 2S2 ⎟ -5lrx1S2 - 25lrx 3S2 - ltz1S2 + 2ltz3S2 - 5rx1S2 - 25rx 3S2 - tz1S2 + 2tz 3S2 ⎟ ⎜ Uty ⎟ ⎜ 1S2 ⎟ ⎜ Urz ⎟ ⎜ -lry 2S2 - 2lrx1S2 + 2rx1S2 -ry 2S2 2S2 ⎟ ⎜ ⎟ ⎜ Utx 2S2 ⎟ = ⎜ -20lrx1S2 - 25lrx 3S2 - 40lry1S2 - 24.75lry 2S2 + 56.57lry3S2 - ltz1S2 + 2ltz 3S2 - 20rx1S2 - 25rx 3S2 - 40ry1S2 - 24.75ry 2S2 + 56.57ry3S2 - tz1S2 + 2tz 3...
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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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