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  • Unidad2 Pagina 27

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    Lmz
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    This document contains a matrix with elements ijk that represent inertial properties of a multi-body system. The elements are defined in terms of mass parameters mlk and product of inertia parameters lklCkl for bodies 1, 2 and 3. Each element ijk is written as a sum of terms involving these mass and product of inertia parameters.

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    This document contains a matrix with elements ijk that represent inertial properties of a multi-body system. The elements are defined in terms of mass parameters mlk and product of inertia parameters lklCkl for bodies 1, 2 and 3. Each element ijk is written as a sum of terms involving these mass and product of inertia parameters.

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    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
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    5 views1 page

    Unidad2 Pagina 27

    Uploaded by

    Lmz
    This document contains a matrix with elements ijk that represent inertial properties of a multi-body system. The elements are defined in terms of mass parameters mlk and product of inertia parameters lklCkl for bodies 1, 2 and 3. Each element ijk is written as a sum of terms involving these mass and product of inertia parameters.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 1

    0 0 0

    J wiT J wi I^ =
    [ ] 0 0

    0 0
    0
    mi li2
    12

    m1 l 12 m2 l 22 m 3 l 32 l 12 l22 2
    2 l3
    i 11=¿
    12
    +
    12
    +
    12
    +m
    1 4
    ( ) ( 2
    + m2 l 1 +l 1 l 2 C2 +
    4 ) (
    + m3 l 1 + + 2l 1 l 2 C 2+l 1 l 3 C 23+l 2 l 3 C 3
    4 )
    m 2 l 2 2 m 3 l 32 l 1 l 2 C2 l 22 l 1 l3 C 12 2 l 32
    i 21=i 12=
    12
    +
    12
    + m2( 2
    +
    4 ) (
    + m3 l 1 l 2 C 2+
    2
    + l 2 +l 2 l3 C 3+
    4 )
    m 3 l32 l 1 l 3 C 23 l2 l 3 C 3 l 32
    i 31=i13=
    12
    +m 3 ( 2
    +
    2
    +
    4 )
    m2 l 22 m3 l 32 l 22 l 32
    i 22=
    12
    +
    12
    +m2
    4 ( ) ( 2
    + m3 l 2 +l 2 l 3 C3 +
    4 )
    m3 l32 l2 l l C
    i 23=i 32=
    12 3 4
    (
    +m 3 + 2 3 3
    2 )
    m3 l 32 l 32
    i 33= +m 3
    12 4

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