LoesungZ1_2001 - Gerhard-Mercator-Universitt Duisburg...

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Gerhard-Mercator-Universitt Duisburg Fachgebiet Mechatronik Prof. Dr.-Ing. habil. M. Hiller Computergest¨utzte Kinematik und Dynamik von Mechanismen WS 2001/02 osung Z1 Seite 1 Musterl¨ osung Zusatzaufgabe 1 l 1 0 r 1 l 2 1 r 2 l 3 2 r 3 ˙ Θ 1 ˙ Θ 3 P 45 o x y z Gegeben : zwei Drehgelenke mit Θ 1 , Θ 3 ein Schubgelenk mit l 2 Ableitungen ˙ Θ 1 , ˙ Θ 3 , ˙ l 2 , ¨ Θ 1 , ¨ Θ 3 , ¨ l 2 Vektoren (in Koordinaten des Ursprungsystems: un¨ublich, hier nur zum Vergleich mit dem M a a a a BILE-Programm) u 1 = 0 0 1 , u 2 = 0 1 0 , u 3 = 1 0 0 , 0 r 1 = 0 0 1 · l 1 , 1 r 2 = 0 1 0 · l 2 , 2 r 3 = 0 1 - 1 · l 3 · 2 2 a) Gesucht : Bewegungswinder ( ω 3 , v 3 ) Relativgeschwindigkeiten: 0 ω 1 = ˙ Θ 1 u 1 , 1 ω 2 = 0 , 2 ω 3 = ˙ Θ 3 u 3 , 0 v 1 = 0 , 1 v 2 = ˙ l 2 u 2 , 2 v 3 = ˙ Θ 3 u 3 × 2 r 3 (da 2 v 3 = 2 d dt ( 2 r 3 ) = 3 d dt ( 2 r 3 ) | {z } = 0 + 2 ω 3 |{z} = ˙ Θ 3 u
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This note was uploaded on 03/15/2012 for the course MAVT KIN07 taught by Professor Hiller during the Spring '01 term at Swiss Federal Institute of Technology Zurich.

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LoesungZ1_2001 - Gerhard-Mercator-Universitt Duisburg...

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