Курсовой проект по дисциплине «Механика управляемых машин»
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Приложение
Обобщенные координаты |
Таблица 7.1 |
|
|
Обобщенные скорости |
Таблица 7.2 |
|
Обобщенные ускорения Таблица 7.3 |
|||||||||||||||||||
i |
|
t |
|
Q1 |
|
S2 |
|
Q3 |
i |
|
t |
|
V1 |
|
V2 |
|
V3 |
i |
|
t |
|
W1 |
|
W2 |
|
W3 |
0 |
| |
0.00 |
| |
-12.68 | |
0.589 |
| |
-54.83 |
0 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
0 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
|
1 |
| |
0.10 |
| |
-11.77 | |
0.589 |
| |
-54.83 |
1 |
| |
0.10 |
| |
0.04 |
| |
0.00 |
| |
0.00 |
1 |
| |
0.10 |
| |
1.17 |
| |
0.00 |
| |
0.00 |
|
2 |
| |
0.20 |
| |
-9.62 | |
0.589 |
| |
-54.83 |
2 |
| |
0.20 |
| |
0.26 |
| |
0.00 |
| |
0.00 |
2 |
| |
0.20 |
| |
3.08 |
| |
0.00 |
| |
0.00 |
|
3 |
| |
0.30 |
| |
-7.18 | |
0.589 |
| |
-54.83 |
3 |
| |
0.30 |
| |
0.59 |
| |
0.00 |
| |
0.00 |
3 |
| |
0.30 |
| |
3.08 |
| |
0.00 |
| |
0.00 |
|
4 |
| |
0.40 |
| |
-4.46 | |
0.589 |
| |
-54.83 |
4 |
| |
0.40 |
| |
0.81 |
| |
0.00 |
| |
0.00 |
4 |
| |
0.40 |
| |
1.17 |
| |
0.00 |
| |
0.00 |
|
5 |
| |
0.50 |
| |
-0.50 | |
0.589 |
| |
-54.83 |
5 |
| |
0.50 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
5 |
| |
0.50 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
|
6 |
| |
0.60 |
| |
4.37 |
| |
0.589 |
| |
-54.83 |
6 |
| |
0.60 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
6 |
| |
0.60 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
7 |
| |
0.70 |
| |
9.24 |
| |
0.589 |
| |
-54.83 |
7 |
| |
0.70 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
7 |
| |
0.70 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
8 |
| |
0.80 |
| |
14.11 |
| |
0.589 |
| |
-54.83 |
8 |
| |
0.80 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
8 |
| |
0.80 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
9 |
| |
0.90 |
| |
18.98 |
| |
0.589 |
| |
-54.83 |
9 |
| |
0.90 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
9 |
| |
0.90 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
10 |
| |
1.00 |
| |
23.85 |
| |
0.589 |
| |
-54.83 |
10 |
| |
1.00 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
10 |
| |
1.00 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
11 |
| |
1.10 |
| |
28.72 |
| |
0.589 |
| |
-54.83 |
11 |
| |
1.10 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
11 |
| |
1.10 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
12 |
| |
1.20 |
| |
33.59 |
| |
0.589 |
| |
-54.83 |
12 |
| |
1.20 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
12 |
| |
1.20 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
13 |
| |
1.30 |
| |
38.46 |
| |
0.589 |
| |
-54.83 |
13 |
| |
1.30 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
13 |
| |
1.30 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
14 |
| |
1.40 |
| |
43.33 |
| |
0.589 |
| |
-54.83 |
14 |
| |
1.40 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
14 |
| |
1.40 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
15 |
| |
1.50 |
| |
48.20 |
| |
0.589 |
| |
-54.83 |
15 |
| |
1.50 |
| |
0.85 |
| |
0.00 |
| |
0.00 |
15 |
| |
1.50 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
16 |
| |
1.60 |
| |
52.16 |
| |
0.589 |
| |
-54.83 |
16 |
| |
1.60 |
| |
0.81 |
| |
0.00 |
| |
0.00 |
16 |
| |
1.60 |
| |
-1.17 | |
0.00 |
| |
0.00 |
|
17 |
| |
1.70 |
| |
54.88 |
| |
0.589 |
| |
-54.83 |
17 |
| |
1.70 |
| |
0.59 |
| |
0.00 |
| |
0.00 |
17 |
| |
1.70 |
| |
-3.08 | |
0.00 |
| |
0.00 |
|
18 |
| |
1.80 |
| |
57.31 |
| |
0.589 |
| |
-54.83 |
18 |
| |
1.80 |
| |
0.26 |
| |
0.00 |
| |
0.00 |
18 |
| |
1.80 |
| |
-3.08 | |
0.00 |
| |
0.00 |
|
19 |
| |
1.90 |
| |
59.46 |
| |
0.589 |
| |
-54.83 |
19 |
| |
1.90 |
| |
0.04 |
| |
0.00 |
| |
0.00 |
19 |
| |
1.90 |
| |
-1.17 | |
0.00 |
| |
0.00 |
|
20 |
| |
2.00 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
20 |
| |
2.00 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
20 |
| |
2.00 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
21 |
| |
2.10 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
21 |
| |
2.10 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
21 |
| |
2.10 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
22 |
| |
2.38 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
22 |
| |
2.38 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
22 |
| |
2.38 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
23 |
| |
2.65 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
23 |
| |
2.65 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
23 |
| |
2.65 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
24 |
| |
2.93 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
24 |
| |
2.93 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
24 |
| |
2.93 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
25 |
| |
3.20 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
25 |
| |
3.20 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
25 |
| |
3.20 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
26 |
| |
3.48 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
26 |
| |
3.48 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
26 |
| |
3.48 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
27 |
| |
3.75 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
27 |
| |
3.75 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
27 |
| |
3.75 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
28 |
| |
4.03 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
28 |
| |
4.03 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
28 |
| |
4.03 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
29 |
| |
4.30 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
29 |
| |
4.30 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
29 |
| |
4.30 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
30 |
| |
4.58 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
30 |
| |
4.58 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
30 |
| |
4.58 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
31 |
| |
4.85 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
31 |
| |
4.85 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
31 |
| |
4.85 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
32 |
| |
5.13 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
32 |
| |
5.13 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
32 |
| |
5.13 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
33 |
| |
5.40 |
| |
60.38 |
| |
0.589 |
| |
-54.83 |
33 |
| |
5.40 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
33 |
| |
5.40 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
34 |
| |
5.68 |
| |
60.38 |
| |
0.588 |
| |
-54.83 |
34 |
| |
5.68 |
| |
0.00 |
| |
-0.00 | |
0.00 |
34 |
| |
5.68 |
| |
0.00 |
| |
-0.09 | |
0.00 |
||
35 |
| |
5.95 |
| |
60.38 |
| |
0.573 |
| |
-54.83 |
35 |
| |
5.95 |
| |
0.00 |
| |
-0.10 | |
0.00 |
35 |
| |
5.95 |
| |
0.00 |
| |
-0.30 | |
0.00 |
||
36 |
| |
6.23 |
| |
60.38 |
| |
0.546 |
| |
-54.83 |
36 |
| |
6.23 |
| |
0.00 |
| |
-0.11 | |
0.00 |
36 |
| |
6.23 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
|
37 |
| |
6.50 |
| |
60.38 |
| |
0.515 |
| |
-54.83 |
37 |
| |
6.50 |
| |
0.00 |
| |
-0.11 | |
0.00 |
37 |
| |
6.50 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
|
38 |
| |
6.78 |
| |
60.38 |
| |
0.483 |
| |
-54.83 |
38 |
| |
6.78 |
| |
0.00 |
| |
-0.11 | |
0.00 |
38 |
| |
6.78 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
|
39 |
| |
7.05 |
| |
60.38 |
| |
0.452 |
| |
-54.83 |
39 |
| |
7.05 |
| |
0.00 |
| |
-0.11 | |
0.00 |
39 |
| |
7.05 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
|
40 |
| |
7.33 |
| |
60.38 |
| |
0.429 |
| |
-54.83 |
40 |
| |
7.33 |
| |
0.00 |
| |
-0.07 | |
0.00 |
40 |
| |
7.33 |
| |
0.00 |
| |
0.44 |
| |
0.00 |
|
41 |
| |
7.60 |
| |
60.38 |
| |
0.418 |
| |
-54.83 |
41 |
| |
7.60 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
41 |
| |
7.60 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
42 |
| |
7.88 |
| |
60.38 |
| |
0.418 |
| |
-54.83 |
42 |
| |
7.88 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
42 |
| |
7.88 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
43 |
| |
8.05 |
| |
60.38 |
| |
0.418 |
| |
-54.83 |
43 |
| |
8.05 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
43 |
| |
8.05 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
44 |
| |
8.23 |
| |
60.38 |
| |
0.418 |
| |
-54.83 |
44 |
| |
8.23 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
44 |
| |
8.23 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
45 |
| |
8.40 |
| |
60.38 |
| |
0.418 |
| |
-54.83 |
45 |
| |
8.40 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
45 |
| |
8.40 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
46 |
| |
8.58 |
| |
60.38 |
| |
0.418 |
| |
-54.83 |
46 |
| |
8.58 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
46 |
| |
8.58 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
47 |
| |
8.75 |
| |
60.38 |
| |
0.418 |
| |
-54.83 |
47 |
| |
8.75 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
47 |
| |
8.75 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
48 |
| |
8.93 |
| |
60.38 |
| |
0.418 |
| |
-54.83 |
48 |
| |
8.93 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
48 |
| |
8.93 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
49 |
| |
9.10 |
| |
60.38 |
| |
0.418 |
| |
-54.83 |
49 |
| |
9.10 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
49 |
| |
9.10 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
50 |
| |
9.28 |
| |
60.38 |
| |
0.418 |
| |
-54.83 |
50 |
| |
9.28 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
50 |
| |
9.28 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
51 |
| |
9.45 |
| |
60.38 |
| |
0.418 |
| |
-54.84 |
51 |
| |
9.45 |
| |
0.00 |
| |
0.00 |
| |
-0.03 |
51 |
| |
9.45 |
| |
0.00 |
| |
0.00 |
| |
-0.38 |
52 |
| |
9.63 |
| |
60.38 |
| |
0.418 |
| |
-55.17 |
52 |
| |
9.63 |
| |
0.00 |
| |
0.00 |
| |
-0.10 |
52 |
| |
9.63 |
| |
0.00 |
| |
0.00 |
| |
-0.38 |
53 |
| |
9.80 |
| |
60.38 |
| |
0.418 |
| |
-56.51 |
53 |
| |
9.80 |
| |
0.00 |
| |
0.00 |
| |
-0.16 |
53 |
| |
9.80 |
| |
0.00 |
| |
0.00 |
| |
-0.38 |
54 |
| |
9.98 |
| |
60.38 |
| |
0.418 |
| |
-58.66 |
54 |
| |
9.98 |
| |
0.00 |
| |
0.00 |
| |
-0.19 |
54 |
| |
9.98 |
| |
0.00 |
| |
0.00 |
| |
0.00 |
55 |
| 10.15 | |
60.38 |
| |
0.418 |
| |
-60.58 |
55 |
| 10.15 | |
0.00 |
| |
0.00 |
| |
-0.19 |
55 |
| 10.15 | |
0.00 |
| |
0.00 |
| |
0.00 |
||||||
56 |
| 10.33 | |
60.38 |
| |
0.418 |
| |
-62.50 |
56 |
| 10.33 | |
0.00 |
| |
0.00 |
| |
-0.19 |
56 |
| 10.33 | |
0.00 |
| |
0.00 |
| |
0.00 |
||||||
57 |
| 10.50 | |
60.38 |
| |
0.418 |
| |
-64.41 |
57 |
| 10.50 | |
0.00 |
| |
0.00 |
| |
-0.19 |
57 |
| 10.50 | |
0.00 |
| |
0.00 |
| |
0.00 |
||||||
58 |
| 10.68 | |
60.38 |
| |
0.418 |
| |
-66.33 |
58 |
| 10.68 | |
0.00 |
| |
0.00 |
| |
-0.19 |
58 |
| 10.68 | |
0.00 |
| |
0.00 |
| |
0.00 |
||||||
59 |
| 10.85 | |
60.38 |
| |
0.418 |
| |
-68.25 |
59 |
| 10.85 | |
0.00 |
| |
0.00 |
| |
-0.19 |
59 |
| 10.85 | |
0.00 |
| |
0.00 |
| |
0.00 |
||||||
42
|
Координаты точки А Таблица 7.4 |
|
Скорость точки А |
Таблица 7.5 |
|
Ускорение точки А Таблица 7.6 |
|||||||||||
i |
t |
Ra |
Xa |
Ya |
Za |
i |
t |
Va |
Vax |
Vay |
Vaz |
i |
t |
Wa |
Wax |
Way |
Waz |
0 |
0.00 |
1.069 |
0.299 |
0.646 |
0.798 |
0 |
0.00 |
0.00 |
0.00 |
0.00 |
0.00 |
0 |
0.00 |
0.00 |
0.00 |
0.00 |
0.00 |
1 |
0.12 |
1.069 |
0.286 |
0.652 |
0.798 |
1 |
0.12 |
0.05 |
-0.04 |
0.02 |
0.00 |
1 |
0.12 |
1.04 |
-0.95 |
0.41 |
0.00 |
2 |
0.25 |
1.069 |
0.257 |
0.664 |
0.798 |
2 |
0.25 |
0.26 |
-0.24 |
0.09 |
0.00 |
2 |
0.25 |
2.08 |
-1.97 |
0.66 |
0.00 |
3 |
0.38 |
1.069 |
0.225 |
0.675 |
0.798 |
3 |
0.38 |
0.47 |
-0.45 |
0.15 |
0.00 |
3 |
0.38 |
1.08 |
-1.08 |
0.03 |
0.00 |
4 |
0.50 |
1.069 |
0.177 |
0.689 |
0.798 |
4 |
0.50 |
0.52 |
-0.50 |
0.13 |
0.00 |
4 |
0.50 |
0.38 |
-0.09 |
-0.37 |
0.00 |
5 |
0.62 |
1.069 |
0.114 |
0.702 |
0.798 |
5 |
0.62 |
0.52 |
-0.51 |
0.08 |
0.00 |
5 |
0.62 |
0.38 |
-0.06 |
-0.37 |
0.00 |
6 |
0.75 |
1.069 |
0.049 |
0.710 |
0.798 |
6 |
0.75 |
0.52 |
-0.52 |
0.04 |
0.00 |
6 |
0.75 |
0.38 |
-0.03 |
-0.38 |
0.00 |
7 |
0.88 |
1.069 |
-0.015 |
0.711 |
0.798 |
7 |
0.88 |
0.52 |
-0.52 |
-0.01 |
0.00 |
7 |
0.88 |
0.38 |
0.01 |
-0.38 |
0.00 |
8 |
1.00 |
1.069 |
-0.080 |
0.707 |
0.798 |
8 |
1.00 |
0.52 |
-0.52 |
-0.06 |
0.00 |
8 |
1.00 |
0.38 |
0.04 |
-0.38 |
0.00 |
9 |
1.12 |
1.069 |
-0.144 |
0.697 |
0.798 |
9 |
1.12 |
0.52 |
-0.51 |
-0.10 |
0.00 |
9 |
1.12 |
0.38 |
0.08 |
-0.37 |
0.00 |
10 |
1.25 |
1.069 |
-0.207 |
0.681 |
0.798 |
10 |
1.25 |
0.52 |
-0.50 |
-0.15 |
0.00 |
10 |
1.25 |
0.38 |
0.11 |
-0.36 |
0.00 |
11 |
1.38 |
1.069 |
-0.268 |
0.659 |
0.798 |
11 |
1.38 |
0.52 |
-0.48 |
-0.20 |
0.00 |
11 |
1.38 |
0.38 |
0.14 |
-0.35 |
0.00 |
12 |
1.50 |
1.069 |
-0.327 |
0.632 |
0.798 |
12 |
1.50 |
0.52 |
-0.46 |
-0.24 |
0.00 |
12 |
1.50 |
0.38 |
0.17 |
-0.34 |
0.00 |
13 |
1.62 |
1.069 |
-0.376 |
0.604 |
0.798 |
13 |
1.62 |
0.51 |
-0.43 |
-0.27 |
0.00 |
13 |
1.62 |
0.40 |
0.32 |
-0.23 |
0.00 |
14 |
1.75 |
1.069 |
-0.412 |
0.580 |
0.798 |
14 |
1.75 |
0.47 |
-0.38 |
-0.27 |
0.00 |
14 |
1.75 |
0.61 |
0.60 |
0.05 |
0.00 |
15 |
1.88 |
1.069 |
-0.441 |
0.559 |
0.798 |
15 |
1.88 |
0.38 |
-0.30 |
-0.24 |
0.00 |
15 |
1.88 |
0.91 |
0.82 |
0.39 |
0.00 |
16 |
2.00 |
1.069 |
-0.466 |
0.538 |
0.798 |
16 |
2.00 |
0.26 |
-0.20 |
-0.17 |
0.00 |
16 |
2.00 |
1.04 |
0.85 |
0.61 |
0.00 |
17 |
2.12 |
1.069 |
-0.490 |
0.516 |
0.798 |
17 |
2.12 |
0.14 |
-0.10 |
-0.09 |
0.00 |
17 |
2.12 |
0.89 |
0.66 |
0.59 |
0.00 |
18 |
2.25 |
1.069 |
-0.511 |
0.496 |
0.798 |
18 |
2.25 |
0.05 |
-0.03 |
-0.03 |
0.00 |
18 |
2.25 |
0.52 |
0.36 |
0.37 |
0.00 |
19 |
2.38 |
1.069 |
-0.525 |
0.480 |
0.798 |
19 |
2.38 |
0.01 |
-0.00 |
-0.00 |
0.00 |
19 |
2.38 |
0.15 |
0.10 |
0.11 |
0.00 |
20 |
2.50 |
1.069 |
-0.531 |
0.474 |
0.798 |
20 |
2.50 |
0.00 |
0.00 |
0.00 |
0.00 |
20 |
2.50 |
0.00 |
0.00 |
0.00 |
0.00 |
21 |
2.62 |
1.069 |
-0.531 |
0.474 |
0.798 |
21 |
2.62 |
0.00 |
0.00 |
0.00 |
0.00 |
21 |
2.62 |
0.00 |
0.00 |
0.00 |
0.00 |
22 |
2.90 |
1.069 |
-0.531 |
0.474 |
0.798 |
22 |
2.90 |
0.00 |
0.00 |
0.00 |
0.00 |
22 |
2.90 |
0.00 |
0.00 |
0.00 |
0.00 |
23 |
3.17 |
1.069 |
-0.531 |
0.474 |
0.798 |
23 |
3.17 |
0.00 |
0.00 |
0.00 |
0.00 |
23 |
3.17 |
0.00 |
0.00 |
0.00 |
0.00 |
24 |
3.45 |
1.069 |
-0.531 |
0.474 |
0.798 |
24 |
3.45 |
0.00 |
0.00 |
0.00 |
0.00 |
24 |
3.45 |
0.00 |
0.00 |
0.00 |
0.00 |
25 |
3.72 |
1.069 |
-0.531 |
0.474 |
0.798 |
25 |
3.72 |
0.00 |
0.00 |
0.00 |
0.00 |
25 |
3.72 |
0.00 |
0.00 |
0.00 |
0.00 |
26 |
4.00 |
1.069 |
-0.531 |
0.474 |
0.798 |
26 |
4.00 |
0.00 |
0.00 |
0.00 |
0.00 |
26 |
4.00 |
0.00 |
0.00 |
0.00 |
0.00 |
27 |
4.27 |
1.069 |
-0.531 |
0.474 |
0.798 |
27 |
4.27 |
0.00 |
0.00 |
0.00 |
0.00 |
27 |
4.27 |
0.00 |
0.00 |
0.00 |
0.00 |
28 |
4.55 |
1.069 |
-0.531 |
0.474 |
0.798 |
28 |
4.55 |
0.00 |
0.00 |
0.00 |
0.00 |
28 |
4.55 |
0.00 |
0.00 |
0.00 |
0.00 |
29 |
4.83 |
1.069 |
-0.531 |
0.474 |
0.798 |
29 |
4.83 |
0.00 |
0.00 |
0.00 |
0.00 |
29 |
4.83 |
0.00 |
0.00 |
0.00 |
0.00 |
30 |
5.10 |
1.069 |
-0.531 |
0.474 |
0.798 |
30 |
5.10 |
0.00 |
0.00 |
0.00 |
0.00 |
30 |
5.10 |
0.00 |
0.00 |
0.00 |
0.00 |
31 |
5.38 |
1.069 |
-0.531 |
0.474 |
0.798 |
31 |
5.38 |
0.00 |
0.00 |
0.00 |
0.00 |
31 |
5.38 |
0.00 |
0.00 |
0.00 |
0.00 |
32 |
5.65 |
1.069 |
-0.531 |
0.474 |
0.798 |
32 |
5.65 |
0.00 |
0.00 |
0.00 |
0.00 |
32 |
5.65 |
0.00 |
0.00 |
0.00 |
0.00 |
33 |
5.93 |
1.069 |
-0.531 |
0.474 |
0.798 |
33 |
5.93 |
0.00 |
0.00 |
0.00 |
0.00 |
33 |
5.93 |
0.00 |
0.00 |
0.00 |
0.00 |
34 |
6.20 |
1.069 |
-0.531 |
0.474 |
0.797 |
34 |
6.20 |
0.00 |
0.00 |
0.00 |
-0.00 |
34 |
6.20 |
0.09 |
0.00 |
0.00 |
-0.09 |
35 |
6.48 |
1.058 |
-0.531 |
0.474 |
0.783 |
35 |
6.48 |
0.10 |
0.00 |
0.00 |
-0.10 |
35 |
6.48 |
0.30 |
0.00 |
0.00 |
-0.30 |
36 |
6.75 |
1.038 |
-0.531 |
0.474 |
0.756 |
36 |
6.75 |
0.11 |
0.00 |
0.00 |
-0.11 |
36 |
6.75 |
0.00 |
0.00 |
0.00 |
0.00 |
37 |
7.03 |
1.015 |
-0.531 |
0.474 |
0.724 |
37 |
7.03 |
0.11 |
0.00 |
0.00 |
-0.11 |
37 |
7.03 |
0.00 |
0.00 |
0.00 |
0.00 |
38 |
7.30 |
0.993 |
-0.531 |
0.474 |
0.693 |
38 |
7.30 |
0.11 |
0.00 |
0.00 |
-0.11 |
38 |
7.30 |
0.00 |
0.00 |
0.00 |
0.00 |
39 |
7.58 |
0.972 |
-0.531 |
0.474 |
0.662 |
39 |
7.58 |
0.11 |
0.00 |
0.00 |
-0.11 |
39 |
7.58 |
0.00 |
0.00 |
0.00 |
0.00 |
40 |
7.85 |
0.956 |
-0.531 |
0.474 |
0.639 |
40 |
7.85 |
0.07 |
0.00 |
0.00 |
-0.07 |
40 |
7.85 |
0.44 |
0.00 |
0.00 |
0.44 |
41 |
8.13 |
0.949 |
-0.531 |
0.474 |
0.628 |
41 |
8.13 |
0.00 |
0.00 |
0.00 |
0.00 |
41 |
8.13 |
0.00 |
0.00 |
0.00 |
0.00 |
42 |
8.40 |
0.949 |
-0.531 |
0.474 |
0.628 |
42 |
8.40 |
0.00 |
0.00 |
0.00 |
0.00 |
42 |
8.40 |
0.00 |
0.00 |
0.00 |
0.00 |
43 |
8.58 |
0.949 |
-0.531 |
0.474 |
0.628 |
43 |
8.58 |
0.00 |
0.00 |
0.00 |
0.00 |
43 |
8.58 |
0.00 |
0.00 |
0.00 |
0.00 |
44 |
8.75 |
0.949 |
-0.531 |
0.474 |
0.628 |
44 |
8.75 |
0.00 |
0.00 |
0.00 |
0.00 |
44 |
8.75 |
0.00 |
0.00 |
0.00 |
0.00 |
45 |
8.93 |
0.949 |
-0.531 |
0.474 |
0.628 |
45 |
8.93 |
0.00 |
0.00 |
0.00 |
0.00 |
45 |
8.93 |
0.00 |
0.00 |
0.00 |
0.00 |
46 |
9.10 |
0.949 |
-0.531 |
0.474 |
0.628 |
46 |
9.10 |
0.00 |
0.00 |
0.00 |
0.00 |
46 |
9.10 |
0.00 |
0.00 |
0.00 |
0.00 |
47 |
9.28 |
0.949 |
-0.531 |
0.474 |
0.628 |
47 |
9.28 |
0.00 |
0.00 |
0.00 |
0.00 |
47 |
9.28 |
0.00 |
0.00 |
0.00 |
0.00 |
48 |
9.45 |
0.949 |
-0.531 |
0.474 |
0.628 |
48 |
9.45 |
0.00 |
0.00 |
0.00 |
0.00 |
48 |
9.45 |
0.00 |
0.00 |
0.00 |
0.00 |
49 |
9.63 |
0.949 |
-0.531 |
0.474 |
0.628 |
49 |
9.63 |
0.00 |
0.00 |
0.00 |
0.00 |
49 |
9.63 |
0.00 |
0.00 |
0.00 |
0.00 |
50 |
9.80 |
0.949 |
-0.531 |
0.474 |
0.628 |
50 |
9.80 |
0.00 |
0.00 |
0.00 |
0.00 |
50 |
9.80 |
0.00 |
0.00 |
0.00 |
0.00 |
51 |
9.98 |
0.949 |
-0.530 |
0.474 |
0.627 |
51 |
9.98 |
0.02 |
0.01 |
-0.01 |
-0.01 |
51 |
9.98 |
0.23 |
0.16 |
-0.09 |
-0.13 |
52 |
10.15 |
0.945 |
-0.528 |
0.473 |
0.625 |
52 |
10.15 |
0.06 |
0.04 |
-0.02 |
-0.03 |
52 |
10.15 |
0.23 |
0.17 |
-0.09 |
-0.13 |
53 |
10.33 |
0.932 |
-0.518 |
0.467 |
0.618 |
53 |
10.33 |
0.10 |
0.07 |
-0.04 |
-0.05 |
53 |
10.33 |
0.23 |
0.17 |
-0.10 |
-0.11 |
54 |
10.50 |
0.910 |
-0.501 |
0.458 |
0.606 |
54 |
10.50 |
0.11 |
0.09 |
-0.05 |
-0.06 |
54 |
10.50 |
0.02 |
0.01 |
-0.01 |
0.02 |
55 |
10.68 |
0.890 |
-0.486 |
0.449 |
0.595 |
55 |
10.68 |
0.11 |
0.09 |
-0.05 |
-0.06 |
55 |
10.68 |
0.02 |
0.01 |
-0.01 |
0.02 |
56 |
10.85 |
0.871 |
-0.471 |
0.440 |
0.586 |
56 |
10.85 |
0.11 |
0.09 |
-0.05 |
-0.05 |
56 |
10.85 |
0.02 |
0.01 |
-0.01 |
0.02 |
57 |
11.03 |
0.852 |
-0.455 |
0.431 |
0.577 |
57 |
11.03 |
0.11 |
0.09 |
-0.05 |
-0.05 |
57 |
11.03 |
0.02 |
0.01 |
-0.00 |
0.02 |
58 |
11.20 |
0.834 |
-0.440 |
0.422 |
0.568 |
58 |
11.20 |
0.11 |
0.09 |
-0.05 |
-0.05 |
58 |
11.20 |
0.02 |
0.01 |
-0.00 |
0.02 |
59 |
11.38 |
0.815 |
-0.423 |
0.413 |
0.561 |
59 |
11.38 |
0.11 |
0.09 |
-0.05 |
-0.04 |
59 |
11.38 |
0.02 |
0.01 |
-0.00 |
0.02 |
Библиографический список
1. Лавров В.Ю. Механика роботов-манипуляторов и её реализация программой CadMan. Учебное пособие Балт. гос. техн. ун-т. – СПб., 2007, 132 с.