Biểu thức 25: "x" equals 0 left brace, "y" greater than or equal to 0 , right bracex=0y≥0
25
This an example lower boundary box
26
Biểu thức 27: "y" equals "r" left brace, "x" greater than or equal to 0 , right brace left brace, "x" less than or equal to "l" Subscript, 2 , Baseline minus "l" Subscript, 1 , Baseline , right bracey=rx≥0x≤l2−l1
27
Biểu thức 28: "x" equals "r" left brace, "y" greater than or equal to 0 , right brace left brace, "y" less than or equal to "l" Subscript, 2 , Baseline minus "l" Subscript, 1 , Baseline , right bracex=ry≥0y≤l2−l1
28
For even more simplicity, we will cut out the lower x range so that we don't have a cutout near the base. Alternatively, you can make the boundary horizontal matching the top of the above box if you need to go up to the origin
29
Biểu thức 30: "x" Subscript, 1 , Baseline equals "r" left brace, "y" greater than or equal to 0 , right brace left brace, "y" less than or equal to StartRoot, left parenthesis, "l" Subscript, 2 , Baseline plus "l" Subscript, 1 , Baseline , right parenthesis squared minus left parenthesis, "l" Subscript, 2 , Baseline minus "l" Subscript, 1 , Baseline , right parenthesis squared , EndRoot , right bracex1=ry≥0y≤l2+l12−l2−l12
30
MOVE ME: left parenthesis, "a" , "f" left parenthesis, "a" , right parenthesis , right parenthesisa,fa
Nhãn:
equals=
left parenthesis, 13.8 , 8.0 9 6 9 1 2 9 9 , right parenthesis13.8,8.09691299
Biểu thức 33: "y" less than or equal to "f" left parenthesis, "a" , right parenthesis left brace, "x" greater than or equal to "l" Subscript, 2 , Baseline minus "l" Subscript, 1 , Baseline , right brace left brace, "x" less than or equal to "a" , right brace left brace, "y" greater than or equal to 0 , right bracey≤fax≥l2−l1x≤ay≥0
33
Biểu thức 34: "x" less than or equal to "a" left brace, "y" greater than or equal to 0 , right brace left brace, "y" less than or equal to "f" left parenthesis, "a" , right parenthesis , right brace left brace, "x" greater than or equal to "r" , right bracex≤ay≥0y≤fax≥r
34
CALCULATING ARM ANGLES
35
GRIPPER POINT: left parenthesis, "p" Subscript, 1 , Baseline , "p" Subscript, 2 , Baseline , right parenthesisp1,p2
Nhãn:
equals=
left parenthesis, 10 , 5.3 7 , right parenthesis10,5.37
36
FOREARM
37
Biểu thức 38: "p" Subscript, 1 , Baseline equals 10p1=10
Biểu thức 41: "h" equals "p" squared plus "p" squaredh=p21+p22
equals=
128.8 3 6 9128.8369
41
Biểu thức 42: "q" Subscript, 2 , Baseline equals cosine to the negative 1st power left parenthesis, StartFraction, left parenthesis, left parenthesis, "h" , right parenthesis minus "l" squared minus "l" squared , right parenthesis Over 2 times "l" Subscript, 1 , Baseline times "l" Subscript, 2 , Baseline , EndFraction , right parenthesisq2=cos−1h−l21−l222·l1·l2
equals=
1.6 3 0 5 2 4 3 3 3 0 91.63052433309
42
Biểu thức 43: "q" Subscript, 1 , Baseline equals arc tangent left parenthesis, "p" Subscript, 2 , Baseline , "p" Subscript, 1 , Baseline , right parenthesis plus arc tangent left parenthesis, "l" Subscript, 2 , Baseline sin left parenthesis, "q" Subscript, 2 , Baseline , right parenthesis , "l" Subscript, 1 , Baseline plus "l" Subscript, 2 , Baseline cos left parenthesis, "q" Subscript, 2 , Baseline , right parenthesis , right parenthesisq1=arctanp2,p1+arctanl2sinq2,l1+l2cosq2
equals=
1.5 6 7 4 8 5 8 7 8 2 41.56748587824
43
"x" Subscript, 3 , Baselinex3
"y" Subscript, 3 , Baseliney3
00
00
r1c3:
"A" Subscript, "x" , BaselineAx
"A" Subscript, "y" , BaselineAy
r2c3:
r3c3:
44
"x" Subscript, 4 , Baselinex4
"y" Subscript, 4 , Baseliney4
"A" Subscript, "x" , Baseline plus 0Ax+0
"A" Subscript, "y" , Baseline plus 0Ay+0
r1c3:
"A" Subscript, "x" , Baseline plus "B" Subscript, "x" , BaselineAx+Bx
"A" Subscript, "y" , Baseline plus "B" Subscript, "y" , BaselineAy+By
r2c3:
r3c3:
45
Biểu thức 46: "B" Subscript, "x" , Baseline equals "l" Subscript, 2 , Baseline cosine left parenthesis, "q" Subscript, 1 , Baseline minus "q" Subscript, 2 , Baseline , right parenthesisBx=l2cosq1−q2
equals=
9.9 8 0 1 3 7 3 4 4 9 59.98013734495
46
Biểu thức 47: "B" Subscript, "y" , Baseline equals "l" Subscript, 2 , Baseline sine left parenthesis, "q" Subscript, 1 , Baseline minus "q" Subscript, 2 , Baseline , right parenthesisBy=l2sinq1−q2
equals=
negative 0.6 2 9 9 6 7 1 2 2 8 2 1−0.629967122821
47
Biểu thức 48: "A" Subscript, "x" , Baseline equals "l" Subscript, 1 , Baseline cosine left parenthesis, "q" Subscript, 1 , Baseline , right parenthesisAx=l1cosq1
equals=
0.0 1 9 8 6 2 6 5 5 0 4 50.019862655045
48
Biểu thức 49: "A" Subscript, "y" , Baseline equals "l" Subscript, 1 , Baseline sine left parenthesis, "q" Subscript, 1 , Baseline , right parenthesisAy=l1sinq1
equals=
5.9 9 9 9 6 7 1 2 2 8 25.99996712282
49
50
cung cấp bởi
cung cấp bởi
MOVE ME
GRIPPER POINT
"x"x
"y"y
"a" squareda2
"a" Superscript, "b" , Baselineab
77
88
99
over÷
chức năng
((
))
less than<
greater than>
44
55
66
times×
| "a" ||a|
,,
less than or equal to≤
greater than or equal to≥
11
22
33
negative−
A B C
StartRoot, , EndRoot
piπ
00
..
equals=
positive+
hoặc
để lưu đồ thị của bạn!
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