Mathcad - cw 12

Mathcad - cw 12, Sprawka, mechatronika

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KSS-2
Sekcja 3
Kania Piotr
Kawa Marcin
Sikora Marek
Wolny
Krzysztof
ORIGIN 1
:=
g
:=
180
30
b
:=
p
180
45
a
:=
180
60
cos
( )
g
-
cos
sin
( )
g
0
0
1
cos
( )
b
0
1
0
sin
( )
b
1
0
0
Rz
g
:=
sin
( )
g
( )
g
Ry
b
:=
0
sin
0
cos
Rx
a
:=
0
0
cos
( )
a
cos
( )
a
0
0
-
( )
( )
b
sin
( )
a
( )
a
Ad. a
R10a
:=
Rz
g
R21a
:=
Ry
b
R20a
:=
R10a R21a
×
p2a
:=
0.05
0.25
0.75
Rownania wiazace reprezentanty stalego w przestrzeni wektora p2a:
p1a R21a p2a
:=
×
p0a R10a p1a
:=
×
p0aa R20a p2a
:=
×
p1a
=
0.566
0.25
0.495
p0a
=
0.365
0.499
0.495
p0aa
=
0.365
0.499
0.495
Wypadkowy kat obrotu:
J
aR acos
:=
tr R20a
(
) 1
-
180
p
×
J
aR
=
53.647
2
Wypadkowa os:
R20a
3 2
,
-
R20a
2 3
,
-
0.819
0.53
0.219
1
2 sin
R20a
1 3
-
R20a
3 1
KaR
:=
( )
×
,
,
KaR
=
×
J
aR
R20a
2 1
-
R20a
1 2
,
,
p
p
sin
b
Ad.b
R10b Rz
:=
g
R21b Ry
:=
b
R32b Rx
:=
a
R30b R10b R21b
:=
×
×
R32b
p3b
:=
1
2
3
Rownania wiazace reprezentanty stalego w przestrzeni wektora p2a:
p2b R32b p3b
:=
×
p1b R21b p2b
:=
×
p0b R10b p1b
:=
×
p0bb R30b p3b
:=
×
p2b
=
-
3.232
1
1.598
p1b
=
-
1.578
2.993
1.598
p0b
=
3.391
0.112
1.578
p0bb
=
3.391
0.112
1.578
Wypadkowy kat obrotu:
J
bR acos
:=
tr R30b
(
) 1
-
180
p
×
J
bR
=
69.356
2
Wypadkowa os:
R30b
3 2
,
-
R30b
2 3
,
0.633
0.773
0.039
KbR
:=
1
×
R30b
1 3
-
R30b
3 1
( )
,
,
KbR
=
2 sin
×
J
bR
R30b
2 1
-
R30b
1 2
,
,
Ad.c
I.a
0.612
0.5
0.612
-
0.866
0.354
0.354
0.707
0
0.707
0.612
0.354
0.707
0.866
0
0.5
0.612
0.354
0.707
R20ca R21a R10a
:=
×
R20ca
=
R20a
=
-
-
R20ca
3 2
,
-
R20ca
2 3
,
J
caR acos
:=
tr R20ca
(
) 1
-
180
p
×
J
caR
=
53.647
KcaR
:=
1
×
R20ca
1 3
-
R20ca
3 1
(
)
,
,
2
2 sin
×
J
caR
R20ca
2 1
-
R20ca
1 2
,
,
0.219
0.819
0.53
KcaR
=
R20a
3 2
,
-
R20a
2 3
,
180
p
×
J
aR
=
53.647
KaR
:=
1
2 sin
( )
×
R20a
1 3
,
-
R20a
3 1
,
×
J
aR
R20a
2 1
-
R20a
1 2
,
,
-
0.819
0.53
KaR
=
I.b
0.612
0.78
0.127
-
0.127
0.927
0.354
0.707
0.612
0.612
0.354
0.707
0.28
0.739
0.612
0.739
0.573
R30cb R32b R21b
:=
×
×
R10b
R30cb
=
-
0.354
R30b
=
-
0.354
-
R30cb
3 2
,
-
R30cb
2 3
,
J
cbR acos
:=
tr R30cb
(
) 1
-
180
p
×
J
cbR
=
87.342
KcbR
:=
1
×
R30cb
1 3
-
R30cb
3 1
(
)
,
,
2
2 sin
×
J
caR
R30cb
2 1
-
R30cb
1 2
,
,
0.956
0.36
0.704
KcbR
=
R30b
3 2
,
-
R30b
2 3
,
180
p
×
J
bR
=
69.356
KbR
:=
1
×
R30b
1 3
-
R30b
3 1
( )
,
,
2 sin
×
J
bR
R30b
2 1
-
R30b
1 2
,
,
0.633
0.773
0.039
KbR
=
0.219
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