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# Definisco la matrice cinematica

In[5]:= Clear["Global`*"]
J=
{Sin[beta], Cos[beta], 0, 0,0,0},
{0, 1, l, 0, 0, 0},
{1, -2*l, 0, -1, 0, -2*l},
{0, 0, 1, 0, 0, -1},
{0, 0, 0, 1, 0, 0},
0, 0, 0, Sqrt[2]2, Sqrt[2]2, -l Sqrt[2]
//MatrixForm
Out[6]//MatrixForm=
Sin[beta] Cos[beta] 0 0 0 0
0 1 l 0 0 0
1 -2 l 0 -1 0 -2 l
0 0 1 0 0 -1
0 0 0 1 0 0
1 1
0 0 0 - 2 l
2 2

## Definisco il vettore degli spostamenti impressi

In[7]:= c={
{0},
{0},
{0},
{phi},
{-2*l*phi},{0}}//MatrixForm
Out[7]//MatrixForm=
0
0
0
phi
- 2 l phi
0

## Definisco il vettore delle incognite

In[8]:= q={
{q1},
{q2},
{q3},
{q4},
{q5},
{q6}
}//MatrixForm
Out[8]//MatrixForm=
q1
q2
q3
q4
q5
q6
2 Risoluzione matrice Cinematica.wl

Risolvo il sistema
In[9]:= SimplifyDeterminante=Det
{Sin[beta], Cos[beta], 0, 0,0,0},
{0, 1, l, 0, 0, 0},
{1, -2*l, 0, -1, 0, -2*l},
{0, 0, 1, 0, 0, -1},
{0, 0, 0, 1, 0, 0},
0, 0, 0, Sqrt[2]2, Sqrt[2]2, -l*Sqrt[2]

J.q==c

Determinante1[beta_]=Determinante
SimplifySolve-l Cos[beta]+2 l Sin[beta]-2 l^2 Sin[beta]Sqrt[2]==0,beta

l Cos[beta] + 2 - 1 + l Sin[beta]
Out[9]= -
2
Sin[beta] Cos[beta] 0 0 0 0
q1 0
0 1 l 0 0 0
q2 0
1 -2 l 0 -1 0 -2 l
Out[10]= 0 0 1 0 0 -1 . q3 ⩵ 0
q4 phi
0 0 0 1 0 0
q5 - 2 l phi
1 1
0 0 0 - 2 l q6 0
2 2

## - l Cos[beta] + 2 l Sin[beta] - 2 l2 Sin[beta]

Out[11]=
2

2 - 1 + l 1
Out[12]= beta → ConditionalExpressionArcTan- ,  + 2 π 1 , 1 ∈ ℤ,
5 - 8 l + 4 l2 5 - 8 l + 4 l2
2 - 1 + l 1
beta → ConditionalExpressionArcTan ,-  + 2 π 1 , 1 ∈ ℤ
5-8l+4 l2 5 - 8 l + 4 l2