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Unformatted text preview: 动动动动动动动动动动动 CAI 动动 动动动动 动动动动动 §161 动动动动动动 动动动动动动动动动动动动动动动动动动动 动动动动动动动动动动动动动动动 x y z M M 动动动动动动动动动动动 动动动动 ) , , ( = z y x f 2 2 2 = + l y x x y o l M(x ， y) θ 动动动动动动动 ( 29 A A y x A , ( 29 ( 29 2 2 2 2 2 2 = = + = + B A B A B A A y l y y x x r y x ( 29 B B y x B , x y r ϕ l 动动动动动动动动动动 动动动动动 动动动动 动动动动动动动动动动动动动 动动动 ) , , , ( = t z y x f i i i 动动动动 动动动动动动动动动动动动动 动动 动动动 ) , , , , , , , , ( = t z y x z y x f i i i i i i ϕ θ 动 动动动动动动动动动动 = θ R x C θ c x 动动动动 动动动动动动动动动动 动动 动动动动动动动 2 2 2 = + l y x 动动动动动 动动动动动动动动动 动 o l 动动 动动动动 动动动 o υ 动 动动动动动动动动动 x y o ( 29 y , x M v ) ( 2 2 2 = + t l y x o o υ 动动动动 动动动动动动动动动动动动 动动动动动动动动动动动动动动动动动动动动 动动 动动动动动动动动动动动动动动动 动动动动动 动 动动动动动动动动动动动动 = θ R x C θ c x 动动动动动动动动动动动动动动动 动动 动动 动 动动动动 动动动动动动动 动动动动 动 动动动动 c R x C = θ §162 动动动动动动动动 动 n 动动动动动动动动动动动动 s 动动动动动 , 3n 动动动动动动动动动动动动动动动 3ns 动 动动动动动动动动动动动动动动动动动动动 动动动动 4 动动动动动 3 动动动 动动 1 动动动动动动动动动 ( 29 ( 29 2 2 2 2 2 2 = = + = + B A B A B A A y l y y x x r y x 动动动动动动动动动动 ( 29 A A y x A , ( 29 B B y x B , x y r l ϕ 动动 动动动动 动动动动动动动动动动动动动 动动 动动动动动动动动动 动动动动动动 动动动动动 动动动动动动动动 动 A B A y x x , , 动动动动动动动动动动动 动动动动动动动动动动动动动 φ 动动动动 动动动动 动动动动动动动动 A B C ϕ ψ 动动动动动动动 6 动动动动动动动 4 动 动动动动动动 2 动动 动动动动动 2 动动动 动动 : ϕ ψ 动 动 n 动动动动动动动动动动动动 s 动动动动动 , 动动动动动动动动 s n k = 3 动动动动动动 k q q q ,......, , 2 1 动动动动动动动动动动动 动动动动动动动动动动动动动动动动动 动动动动动 ) , ... ( 1 t q q x x k i i = ) , ... ( 1 t q q y y k i i = ) , ... ( 1 t q q z z k i i = k i ,..., 2 , 1 = 动动动动动动动 ) , ,..., , ( 2 1 t q q q r r k i i = 动动 ) , , ( 2 1 t q q x x = 动动 dt t x dq q x dq q x dx ∂ ∂ + ∂ ∂ + ∂ ∂ = 2 2 1 1 动动 2 2 1 1 q q x q q x x δ δ δ ∂ ∂ + ∂ ∂ = 动动 y x cos = ydy dx sin = y y x δ δ sin = 动动动动动 δ 动动动 动动动动动动...
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This note was uploaded on 10/31/2011 for the course ME 125004 taught by Professor Qiaolingliu during the Spring '08 term at Tongji.
 Spring '08
 QiaolingLiu

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