Aula 3
Aula 3
Aula 3
𝑀
x 𝐼 = න 𝑟 𝑑𝑚 𝑑𝑚 = 𝑑𝑥
𝐿
L 𝑀
𝐼 = න 𝑥2 𝑑𝑥 𝑀
𝐿 𝐼= න 𝑥 2 𝑑𝑥
𝐿
m 𝑀 𝑥 3 𝑙/2
𝐼=
𝐿 3 −𝑙/2
I 𝐿 3 𝐿 3
I’ (
𝑀 2 ) (− ) 𝑀 𝐿3 𝐿3 𝑀𝐿2
𝐼= − 2 = + =
𝐿 3 3 3𝐿 8 8 12
r
L 𝐼 ′ = 𝐼 + 𝑀𝑟 2 ′
𝑀𝐿2 𝐿
𝐼 = + 𝑀( )2
12 2
𝑦2 = 𝑙2 𝜃2 𝑥1 = (𝑟1 + 𝑙1 )𝜃1
𝑝 𝑝
1 2 1 1 2 1 2 1 𝜃2 = 𝑝1 𝜃1 𝑦2 = 𝑙2 𝑝1 𝜃1
𝐾𝑡𝑒𝑞 𝜃1 = 𝐾34 𝑦2 + 𝐾𝑡2 𝜃2 + 𝐾𝑡1 𝜃1 + 𝐾12 𝑥1 2
2
2 2
2 2 2 2 2
2
1 1 𝑝1 1 𝑝1 1 1
𝐾𝑡𝑒𝑞 𝜃1 2 = 𝐾34 𝑙2 𝜃 + 𝐾𝑡2 ( 𝜃1 )2 + 𝐾𝑡1 𝜃1 2 + 𝐾12 [(𝑟1 + 𝑙1 )𝜃1 ]2
2 2 𝑝2 1 2 𝑝2 2 2
𝐾3 𝐾4 2 𝑝12 𝑝12
𝐾𝑡𝑒𝑞 = 𝑙2 2 + 𝐾𝑡2 2 + 𝐾𝑡1 + (𝐾1 + 𝐾2 )(𝑟1 + 𝑙1 )2
𝐾4 + 𝐾3 𝑝2 𝑝2
𝐾34
𝑦2 = 𝑙2 𝜃2 𝑥1 = (𝑟1 + 𝑙1 )𝜃1
yc2 = 𝑟2 𝜃2 xc1 = 𝑟1 𝜃1
y2
y = 𝑝2 𝜃2 y = 𝑝1 𝜃1
𝑝 𝑝
𝜃2 = 𝑝1 𝜃1 𝑦2 = 𝑙2 𝑝1 𝜃1
2 2
𝐾12
𝑝1
y yc2 = 𝑟2 𝜃
𝑝2 1
1 2 1 1
2 1 1
2 𝜃1
𝐽 𝜃 = 𝐽1 𝜃ሶ1 ሶ 2
+ 𝑚1 (𝑥𝑐1) + 𝐽2 𝜃ሶ 2 ሶ 2
+ 𝑚2 (𝑦𝑐2)
2 𝑒𝑞 1 2 2 2 2
2
1 1 2 1 1 𝑝1 1 𝑝1
𝐽𝑒𝑞 𝜃1 2 = 𝐽1 𝜃ሶ1 + 𝑚1 (𝑟1 𝜃1 )2 + 𝐽2 𝜃ሶ1 + 𝑚2 (𝑟2 𝜃1 )2 𝐽𝑒𝑞 𝐾𝑡𝑒𝑞
2 2 2 2 𝑝2 2 𝑝2
2 2
𝑝1 𝑝1
𝐽𝑒𝑞 = 𝐽1 + 𝑚1 (𝑟1 )2 +𝐽2 + 𝑚2 𝑟2
𝑝2 𝑝2
𝑥𝐵 = 𝑟𝑐 𝜃𝑐
𝑥𝐵 = 𝑙2 𝜃𝑏
𝑥ℎ = 𝑙3 𝜃𝑏
l
l
1 𝑥ℎ
4 𝜃𝑐 = 𝑙2 𝑙
3 𝑟𝑐
rc
𝜃𝑐
rc
1 1 1 2 1 2
𝑚𝑒𝑞 𝑥ℎሶ 2 = 𝑚ℎ 𝑥ℎሶ 2 + 𝐽𝐵 𝜃𝑏ሶ + 𝐽𝐶 𝜃𝑐ሶ
2 2 2 2
1 1 1 𝑥ℎሶ 1 𝑥ሶ ℎ 2
𝑚𝑒𝑞 𝑥ℎሶ 2 = 𝑚ℎ 𝑥ℎሶ 2 + 𝐽𝐵 ( )2 + 𝐽𝐶 (𝑙2 )
2 2 2 𝑙3 2 𝑙3 𝑟𝑐
𝐽𝐵 2 𝑙2ሶ2
𝑚𝑒𝑞 = 𝑚ℎ + 2 + 𝐽𝐶 2
𝑙3 𝑙3 𝑟𝑐 2