大三下复杂系统次作业答案.pptx

1.Theplaceoftherigidcouplerintherevolute-translationalcompositejoint.Thetranslationalactuatorshowninthefigurebelowisinserted,wheretheactuatorforceisgivenasf=g(c),derivethegeneralizedforceQiandQjonbodiesiandj,respectively,duetothatforceelement.Solution:widijPiPjcviff’

2.DerivethegeneralizedforceQiandQjonbodiesiandj,thatareconnectedbythetranslationaljointofthefigurebelow,withaspring-damper-actuatorattachedbetweenpointsPiandPjSolution:

3.Solution:xyx1y1OA(a,0)Mass:mCoefficientofeachspring:kLength:lFreelengthofeachspring:l0gCalculatetheactivegeneralizedforcevectorl1l2f1f2d011d012B1

xyx1y1x2y24.MassofB1:m1Coefficientofspring:kLengthofeachlink:lFreelengthofspring:l0WritetheconstraintequationsWritetheLagrangeequationsofthefirstkindWritethemixeddifferential-algebraicequationsGiveaphysicsinterpretationforeachLagrangemultiplierMassofB2:m2g

Solution:

Lagrangeequationsofthefirstkind

Themixeddifferential-algebraicequations

PhysicsinterpretationforeachLagrangemultiplierFx1Fy1Fx2Fy2’Fy2Fx2’