MANIPULADOR

2GL
TRANSLAÇÃO DOS CENTROS DE MASSA DOS LIGAMENTOS:

 lC1S1 0  
   1 
VC1   lC1C1 0  
 
 0 0   2 

 (l1S1  lC2 S12 )  lC2 S12 

   1 
VC 2   (l1C1  lC2 C12 )  lC2 C12   
   2 
 0 0 
 JACOBIANOS DE TRANSLAÇÃO:

 lC1 S1  0
(1)  
JV   lC1C1  JV( 1 )  0
1 2
 0  0
 

 l1S1  lC 2 S12   lC 2 S12 

(2)   JV( 2 )  lC 2C12 
JV   l1C1  lC 2C12  2
1
 0   0 
ROTAÇÃO:

0   0 
     
1  0  2   0 
   
   1 2
 1
0  0 
(1)  
J   0  J( 1 )  0
1 2
1  0

0 0 
J ( 2)
2  0 J ( 2 )  0
2
1  1 
 H
2

i 1
 (i ) T
mi ( J V ) (i)
JV  ( J ( i ) )T I i J ( i ) 
1 1 T 2 2 T
I  R [ J ]R I  R [ J ]R
1 0 1 0 2 0 2 0

0 0 0  0 0 0 
    C1 - S1 0 C12 - S12 0 
J 1  0 J 1y 0  J 2  0 J 2y 0  R1  S1 C1 0  R2  S12 C12 0 
0 0 J  0 0 J  0 0 1 
 1z   2z  0 0 1 

H  J  m l 2  J 2 z  m (l 2  l 2  2l l C )
11 1z 1 c1 2 1 c2 1 c2 2
H  H  m l l C  m l2  J
12 21 2 1 c2 2 2 C2 2z
H  m l2  J
22 2 C2 2z
 PARÂMETRO DE INÉRCIA: “h”
H ij
1 H jk
hijk  
q k 2 qi

H 11 1 H 11 H 21 1 H11
h111   0 h211    m2l1lC 2 S 2
q1 2 q1 q1 2 q2

H 11 H 21 H12 1
h112   2m 2 l1l C 2 S 2 h212     m2l1lC 2 S 2
q 2 q2 q2 2

H 12 1 H 21 H 22 1 H 21 1
h121   0 h221    m2l1lC 2 S 2
q1 2 q1 q1 2 q2 2

H 12 1 H 22 H 22 1 H 22
h122    m 2 l1l C2 S 2 h222   0
q 2 2 q1 q2 2 q2
 3) EFEITO GRAVITACIONAL

2
T ( j )
Gi    m j g JV
i
j 1

g  0 - g 0
T

G1  m1lc1 g cos 1  m2 g (lc 2 cos(1   2 )  l1 cos 1 )

G 2  m 2 gl c 2 cos(1   2 )
 EQUAÇÕES DE MOVIMENTO

H 111  H 12 2  2h1 2  h 2  G1   1

     2

H 22 2  H 121  h1  G2   2

   2

h  m2 l1lC 2 S 2