class 8 kinematics rigidsolid
TRANSCRIPT
-
7/23/2019 Class 8 Kinematics RigidSolid
1/21
@c prlhc`ag > `st r`cgoiljgdl g alviai`jtl
`p`j `j `.
@j `c sist`ag alstrgdl, cg v`cloidgd d`c olccgr R `s d` 8 a/s
.
cgs hgrrgs LW y WR ougjdl 1 40. Pticizgr `c atldl d`d`nijioij v`otlrigc.
-
7/23/2019 Class 8 Kinematics RigidSolid
2/21
@c prlhc`ag > `st r`cgoiljgdl g alviai`jtl
`p`j `j `.
WRWRWR rvv /
vW (D`nijioij)(7)40
a/sivR
........vR
8,2 (Dgtl)
_lcuoij plr d`nijioij v`otlrigc
W 40
a/skivR
................... akirR
.................../
(D`nijioij v`otlrigc)+8,22 2
2,=49 -2,=49 (D`nijioij v`otlrigc)
Wv
R
kivW
........................................ eWRWR
vW ols(40) -vW s`j(40)
ei
_` r``apcgzg cls v`otlr`s `j cg `ougoij (7);Rv
a/s............
Wv
..........WR
.............................
.............................,...............,..............,....., 2228 2,626vW -2,626vW2,=49 -2,=49 2
.
7.474
rgd/s..........LW -7.76=
2 2 WR
-
7/23/2019 Class 8 Kinematics RigidSolid
3/21
@c prlhc`ag 7 `studig cg oljs`rvgoij d`
`j`rf g `j s s `ag ` pgr ou gs.
Cgs tr`s `sn`rgs, d` agsg a, `stj olj`otgdgs a`digjt`
rgapg oiroucgr. Cg nu`rzg d` agfjitud oljstgjt` R s` gpciogp`rp`jdioucgr g cg hgrrg `j su pujtl a`dil. _i `c sist`ag ijioig
` r`plsl j 1 . ` `ra jgr;
g) Cg ajiag nu`rzg Raij qu` mgo` qu` `c sist`ag `st `j
r`plsl `j 1>2.h) Cg v`cloidgd olaj d` cgs `sn`rgs `j 1>2 si R18Raij.
-
7/23/2019 Class 8 Kinematics RigidSolid
4/21
@c prlhc`ag 7 `studig cg oljs`rvgoij d`
`j`rf g `j s s `ag ` pgr ou gs.
Dgtua
Rlsioij ijioigc Rlsioij nijgc
G) Ajiag nu`rzg pgrg r`plsl `j 1>2
......7T .........8T2 K 2 KH) ^`cloidgd olaj pgrg R18Raij.
......7T .........8T2 K 8(av8/8)
.......................7 .........8^- - ........ NJOP 87 R (/?)(r/8) ..............7 - . afr .......................... NJOP 87 (7=af/) (/?)(r/8)
2 K ..............8^
.............aij R 9af/
888777 NJO )(
(7) ?fr/8
888777 NJO )(
(8)............v
-
7/23/2019 Class 8 Kinematics RigidSolid
5/21
Pj ou`rpl sla`tidl g alviai`jtl pcgjl f`j`rgc
`xp`r a`j g rgs go j y rl go j.
Alviai`jtl pcgjl f`j`rgc
Trgscgoij olj H Xltgoij `j H
-
7/23/2019 Class 8 Kinematics RigidSolid
6/21
@c prlhc`ag 8 `st r`cgoiljgdl g alviai`jtl
`p`j `j ` xga`j -
@j `c sist`ag alstrgdl cg v`cloidgd d`c hclqu` O `s d` 922
aa/s mgoig cg d`r`omg. D`t`raijgr cg v`cloidgd d`c hclqu`
D. (Jl uticizgr `c o`jtrl ijstgjtj`l d` rltgoij).
-
7/23/2019 Class 8 Kinematics RigidSolid
7/21
@c prlhc`ag 8 `st r`cgoiljgdl g alviai`jtl
`p`j `j ` xga`j -
HHO
HHv
Ov
O
>2
O Ov
OHv /
.. olj O .. j OXltgoij
G) ^`cloidgd H (slcuoij `j hgrrg HO)
Trgscgoij
Digfrgag oij`atiol d` cg hgrrg HO
H) _lcuoij frniog d` v`cloidgd`s
a/s92,Ov
Cg hgrrg GH rltg gcr`d`dlr d` G.
\\\\\GHHv
sa /...........Ov
2,922
(7)
).(.........)(......... s`j
v
s`j
v OH
?2 720
srgdrv OHOHHO /........../ // 2.907
..a/s..........vH
2,4>>
.a/s..........vH/O
2,>09
-
7/23/2019 Class 8 Kinematics RigidSolid
8/21
@c prlhc`ag 8 `st r`cgoiljgdl g alviai`jtl
`p`j `j ` xga`j -
H HD
HHv
vHvH
D?2
.. olj H .. j HXltgoij
O) ^`cloidgd d`c hclqu` D
Trgscgoij
Digfrgag oij`atiol d` cg hgrrg HD
D) _lcuoij frniog d` v`cloidgd`s
Dv
_` pcgjt`g cg c`y d` s`jls `j HD;
vv HD
sa /...........Hv 2,4>>
2 922
_` r``apcgzg vH `j (8);
).(.........)(......... s`js`j 720 ?2
srgdrv DHDHHD /........../ // 2,049
D ..........
savHD
/.........../
2,>09
-
7/23/2019 Class 8 Kinematics RigidSolid
9/21
@c o`jtrl ijstgjtj`l d` rltgoij (OIX) `s uj
ujtl d` v`cloidgd jucg slhr` `c ougc uj scidlfirg `j uj ijstgjt` dgdl.
rvv
v 12
OGG rv /
GOG rv
G
v `rait`j d`nijir cgs v`cloidgd`s
Gv
Gv
d` tldgs cgs pgrtoucgs d`c scidl O; O`jtrl ijstgjtj`l d` rltgoij
-
7/23/2019 Class 8 Kinematics RigidSolid
10/21
Cg uhiogoij d`c OIX d`p`jd` d` cg agfjitud,
r`oo j y s`j l ` ls puj ls ` s l.
pgrgc`clssljjly HG vv
pgrgc`clsy HG vv
-
7/23/2019 Class 8 Kinematics RigidSolid
11/21
@c prlhc`ag ? `st r`cgoiljgdl gc oljo`ptl d`
`j rl js gj j`l ` rl go j.
D`t`raijgr cg v`cloidgd gjfucgr d` cgs hgrrgs HO y OD `j `c
-
7/23/2019 Class 8 Kinematics RigidSolid
12/21
@c prlhc`ag ? `st r`cgoiljgdl gc oljo`ptl d`
`j rl js gj j`l ` rl go j.
OIX
HOIXH
r v\\\\\
/
HO
OIXHr /
OIXOr /
Ov
?2H O
2,4 a
Ov
Hv
G) ^`otlr`s d` plsioij `j hgrrg HO.
_` pcgjt`g cg c`y d` s`jls;
8.22vH1 a/s
H) `cloidgd gjfucgr y v`cloidgd `j O.
_` sgh` plr d`nijioij;.)(...........)(.........
/
s`js`jOIXH 92 >2 (7)
_` r``a cgzg HO j 7 ;srgdrv OIXHHHO /......../ / 4,??
sarv HOOIXOO /............./
ar OIXH .........../
ar OIXO .........../
2,4>8
,
srgdrv DOOOD /......../ / 0,222,8?7
-
7/23/2019 Class 8 Kinematics RigidSolid
13/21
@c OIX pu`d` d`t`raijgr cg r`cgoij d`
v` lo g `s g sl u gs.
OGvG
/
OHvH
(D`nijioij)
(D`nijioij)
OGvOGv GH /)tgj( (X`cgoij trifljlatriog y
d`nijioij)
(X`cgoij d`GH v`cloidgd`s ghslcutgs)
oljlo gssr`oo lj`;y HG vv
oljloidl;Gv
-
7/23/2019 Class 8 Kinematics RigidSolid
14/21
@c prlhc`ag 4 `studig `j`rfg `j uj sist`ag d`
pgr ou gs y s l r f l. x - .
Ogdg ujl d` cls d`scizgdlr`sG y H ti`j` ujg agsg d` 4 ef y
s` au`v`j olj r oo j `spr`o g ` j su r`sp`o vg fu g.
Pjg nu`rzg mlrizljtgc oljstgjt` d` 82 J s` gpciog gc pujtla`dil d` cg hgrrg rfidg d` agsg d`spr`oighc`. _i `c oljkujtl
s` cih`rg d`sd` `c r`plsl olj 1 ?2 y `c r`slrt` sij d`nlragr,ogcoucgr cgs v`cloidgd`s d` cls d`scizgdlr`s ougjdl 1 >2.
-
7/23/2019 Class 8 Kinematics RigidSolid
15/21
@c prlhc`ag 4 `studig `j`rfg `j uj sist`ag d`
pgr ou gs y s l r f l. x - .
>2
J.X.
ef4 HG aa Rlsioij 8H
G) @j`rfg `j plsioij 7 (1?2).
K7 ......T 88
8 HG vvT ................... 2 2,0(4) 2,0(4)
H) @j`rfg `j plsioij 8 (1>2).
K^ ....7 2,0(02)(2,74>)8
2K^f ........................... 7 4f(2,42ols?2) ,
K^ ............................ 8 2,0?>K^f ........................... 8 4f(2,42ols>2) ,
88 HG vv ................... >,>6
888777 NJO )(NJO ......... 87,
(7)8 8
-
7/23/2019 Class 8 Kinematics RigidSolid
16/21
@c prlhc`ag 4 `studig `j`rfg `j uj sist`ag d`
pgr ou gs y s l r f l. x - .
>2
J.X.
ef4 HG aa Rlsioij 8H
O) X`cgoij d` v`cloidgd`s (1>2).
_` pu`d` usgr `c oljo`ptl d` OIX; .............vv HG tgj(>2) (8)
.a/s..........v G 7,0=2
G/OIXGHG rv ....................v GHG 2,42s`j(>2)
D` cgs `ougoilj`s (7) y (8)
H/OIXGHH
....................
v GHH 2,42ols(>2)
.a/s..........v H2,978
-
7/23/2019 Class 8 Kinematics RigidSolid
17/21
@c prlhc`ag 0 `st r`cgoiljgdl gc oljo`ptl d`
. xga`j - .
@j `c ijstgjt` alstrgdl, cg hgrrg @D ti`j` ujg v`cloidgd
1
mgoig cg d`r`omg olj v`cloidgd v@1 7 a/s. _` pid`d`t`raijgr, usgjdl `c oljo`ptl d` OIX, cgs v`cloidgd`s
jo u r r`oo lj`s ` ls puj ls y pgrg s` js gj `.
-
7/23/2019 Class 8 Kinematics RigidSolid
18/21
@c prlhc`ag 0 `st r`cgoiljgdl gc oljo`ptl d`
. xga`j - .
D
a/s7@v
@
D@@D
G) D`nijioij d` OIX 7 (Hgrrg D@).
Cg v`cloidgd d` @ `s mgoig cg..d`r`omg _` pcgjt`g cg c y d` s`jls;
7@/OIXrv @D@ a7@/OIX .........r 2,82 (7) .)(...........)(.........
/
s`j
D@
s`j
rD 7OIX
742 8?.46
savD /.........8,8>
(8)
a7D/OIX ...........r , ..
-
7/23/2019 Class 8 Kinematics RigidSolid
19/21
@c prlhc`ag 0 `st r`cgoiljgdl gc oljo`ptl d`
H
. xga`j - .
D
HD
a/s7@v
Dv
@
@D
H) D`nijioij d` OIX 8 (Hgrrg HD).
_` pcgjt`g cg c`y d` s`jls; Cg v`cloidgd d` H s mgoig cg..d`r`omg-
.)(...........)(.........
/
s`j
HD
s`j
rD 8OIX
>2 0?.46
grrihg8H/OIXrv HDH
savH /......... 8,?9 (4)
sar
vDHD /..........
8D/OIX =,?= (?)
a8D/OIX ...........r ,
-
7/23/2019 Class 8 Kinematics RigidSolid
20/21
@c prlhc`ag > `st r`cgoiljgdl gc oljo`ptl d`
. xga`j - .
_i `c `scghjGH `st firgjdl gcr`d`dlr d`c pgsgdlr uhiogdl
GH ,
d`t`raijgr (usgjdl `c atldl d`c OIX);g) Cg v`cloidgd d`c hclqu` O.
h) Cg v`cloidgd d`c hclqu` @.
-
7/23/2019 Class 8 Kinematics RigidSolid
21/21
@c prlhc`ag > `st r`cgoiljgdl gc oljo`ptl d`
D
. xga`j - .
rgd/s0GHwD
Dv
O
arOIXD
......../
7
7,844
Ov
Dv
ar OIXD ......../ 8
7,970
H
vH
7OIXOr /
vH1 a/s ar OIXH .........../ 7
2,082
OHD D@
7,02@
G) D`nijioij d` OIX 7.
_` pcgjt`g cg d`nijioij `j scidl ..;
OIX@ .........../ 8 ,
H) D`nijioij d` OIX 8.OHD
@v
OHDOv ........ 2,?2 savO /......... 2,=6
..........HOHD
........OHD
,
......./DD@ v rgd/s........D@rD/OIX8 7,==
7 49? 8,=2OHDDv ........ , savD ......... ,
........HDOIX7 ?=,=
........ .........