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q1
L1
90
q2
90
3
L2+q 3
4
T10=
[cos(q1)
sin(q1)
0
0
0 sin(q1) 0
0 -cos(q1) 0
1 0
L1
0 0
1]
T21=
[-sin(q2) 0 cos(q2) 0
cos(q2) 0 sin(q2) 0
0
0
1
0
0
0
0
1]
T32=
[1 0 0 0
0100
001
3
L 2+q 3
4
0 0 0 1]
T20=T10*T21
T30=T10*T21*T32
0, sin(q1),
0, -cos(q1),
1,
0,
0,
0,
T21 =
[ -sin(q2),
[ cos(q2),
[
0,
[
0,
0, cos(q2),
0, sin(q2),
1,
0,
0,
0,
0]
0]
L1]
1]
0]
0]
0]
1]
T32 =
[ 1, 0, 0, 0]
[ 0, 1, 0, 0]
[ 0, 0, 1, 4 L 2+q 3 ]
[ 0, 0, 0, 1]
T20 =
[ -cos(q1)*sin(q2),
[ -sin(q1)*sin(q2),
[
cos(q2),
[
0,
sin(q1), cos(q1)*cos(q2),
-cos(q1), sin(q1)*cos(q2),
0,
sin(q2),
0,
0,
0]
0]
L1]
1]
T30 =
[-cos(q1)*sin(q2), sin(q1), cos(q1)*cos(q2), cos(q1)*cos(q2)*(3/4*L2+q3)]
[-sin(q1)*sin(q2), -cos(q1), sin(q1)*cos(q2), sin(q1)*cos(q2)* (3/4*L2+q3)]
[
cos(q2),
0,
sin(q2),
sin(q2)*
(3/4*L2+q3)+L1]
[
0,
0,
0,
1]
Xk Y k Zk
propio sistema
c1=[0; -L1/2; 0]
c2=[0; 0; L2/2]
c3=[0; 0; -L3/2]
Ixx
M 3R + H
12
M 6R 2+ H 2
12
M 6R 2+ H 2
12
MR2
M H 2
12
M H 2
12
Iyy
2
M 3R + H
12
Izz
2
M R
12