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wx0'= 0,2 /2 wz2' = 3 /2

wy0'= 0,2 /2

wz0'= 0,2 /2

:

a = 2 . 120 . (10)

b = 1 . 60 .

 

MOMIN 1.

-:

1) ;

2) ;

3) ;

 

1) Ðàáîòà ÃÑ íà íåïîäâèæíîì îñíîâàíèè ïðè óïðàâëÿåìîé ïëàòôîðìå,

.. :

 

wx0 = wy0 = wz0 = wx0' = wy0' = wz0' = 0 (11)

a ¹ 0; b ¹ 0; wy2¹ 0; wz2 ¹ 0; wy2' ¹ 0; wz2' ¹ 0

 

(11) (9), :

 

MZ2=+{Jxz2-Jyz2}wy2wz2tg(b)+

+{(Jy2-Jx2)tg(b)+Jxy2(1-tg(b)2)}wy22-

-{Jxz2tg(b)+Jyz2}wy2'+

+Jz2wz2'

 

MY1=+{Jyz2sin(b)-Jxz2cos(b)}wz22-

-{Jxz2sin(b)+Jyz2cos(b)}wz2'+

+{(Jx2-Jy2)sin(b)+Jxy2cos(b)(tg(b)2-1)}wz2wy2+

+{Jx2sin(b)2/cos(b)-

-2Jxy2sin(b)+Jy2cos(b)+Jy1/cos(b)}wy2'

 

, (10), :

 

) Y1: y1 = + = 5.68 + 0.14 = 5.82 ×.

 

 

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