Задача №10.23
Условие
Плоский механизм манипулятора переносит груз из одного положения в другое по траектории, определяемой полярными координатами центра схвата rC=rC(t), φC=φC(t). Найти:1) законы изменения углов ψ1 и ψ2, отрабатываемых соответствующими приводами, обеспечивающие выполнение заданной программы;
2) законы изменения этих углов, если груз перемещается по прямой, параллельной оси y, отстоящей от нее на расстоянии a по закону y=s(t), где s — заданная функция времени t.
Решение
☆
Добавить в избранное
1.1
1.2
1.3
1.4
1.5
2.1
2.2
2.3
2.4
2.5
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2.10
2.11
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2.32
2.33
2.34
2.35
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2.39
2.40
2.41
2.42
2.43
2.44
2.45
2.46
2.47
2.48
2.49
2.50
2.51
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2.53
2.54
2.55
3.1
3.2
3.3
3.4
3.5
3.6
3.7
3.8
3.9
3.10
3.11
3.12
3.13
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3.20
3.21
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3.24
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4.1
4.2
4.3
4.4
4.5
4.6
4.7
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4.53
4.54
4.55
4.56
4.57
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4.59
4.61
4.62
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4.64
4.65
4.66
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4.68
4.69
4.70
4.71
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4.73
4.74
5.1
5.2
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5.42
6.1
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7.1
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8.1
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9.1
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10.1
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10.4
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10.7
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10.23
11.1
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12.1
12.2
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12.4
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13.1
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14.1
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15.1
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16.1
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17.1
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18.1
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19.1
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20.1
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21.2
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22.1
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23.1
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23.48
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23.55
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23.60
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23.62
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23.64
23.65
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23.67
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23.69
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23.71
24.1
24.2
24.3
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24.34
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25.1
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26.1
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27.1
27.2
27.3
27.4
27.5
27.6
27.7
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27.48
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27.54
27.55
27.58
27.59
27.60
27.61
27.62
27.63
27.64
27.65
28.1
28.2
28.3
28.4
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29.1
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30.1
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31.1
31.2
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31.31
31.32
31.33
31.34
31.35
32.1
32.2
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32.4
32.5
32.6
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32.11
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32.13
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32.16
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32.19
32.20
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32.24
32.25
32.26
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32.30
32.31
32.32
32.33
32.34
32.35
32.36
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32.38
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32.40
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32.43
32.44
32.45
32.46
32.47
32.48
32.49
32.50
32.51
32.52
32.53
32.54
32.55
32.56
32.57
32.58
32.59
32.60
32.61
32.62
32.63
32.64
32.65
32.66
32.67
32.68
32.69
32.70
32.71
32.72
32.73
32.74
32.75
32.76
32.77
32.79
32.80
32.81
32.82
32.83
32.84
32.85
32.86
32.87
32.88
32.89
32.90
32.91
32.92
32.93
32.94
32.95
32.96
32.97
32.98
32.99
32.100
32.101
32.102
32.103
32.104
32.105
32.106
32.107
33.1
33.2
33.3
33.4
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33.6
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33.22
34.1
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34.31
35.1
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36.1
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37.1
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37.59
38.1
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38.53
39.1
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40.1
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41.1
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42.1
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43.1
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44.1
44.2
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45.3
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46.1
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47.1
47.2
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48.1
48.5
48.6
48.7
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48.12
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48.23
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48.33
48.34
48.35
48.38
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48.44
48.48
48.49
49.1
49.2
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49.11
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53.5
53.12
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54.1
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54.18
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54.32
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54.35
55.2
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55.21
55.25
55.38
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56.3
56.7
56.9