Equation

Published on November 2016 | Categories: Documents | Downloads: 55 | Comments: 0 | Views: 488
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Equation for torque

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(Tc*vx1*cos(Thetac1) + Tc*ux1*sin(Thetac1))*((13*dux1*cos(Thetac1))/125 +
(13*dvx1*sin(Thetac1))/125 - dux2*(Rx + (41*cos(Thetac2))/1000) - dvx2*(Rz +
(41*sin(Thetac2))/1000)) - (13*Tc*dtheta1)/125 + (Tc*vy1*cos(Thetac1) +
Tc*uy1*sin(Thetac1))*((13*duy1*cos(Thetac1))/125 + (13*dvy1*sin(Thetac1))/125 duy2*(Rx + (41*cos(Thetac2))/1000) - dvy2*(Rz + (41*sin(Thetac2))/1000)) +
(Tc*vz1*cos(Thetac1) + Tc*uz1*sin(Thetac1))*((13*duz1*cos(Thetac1))/125 +
(13*dvz1*sin(Thetac1))/125 - duz2*(Rx + (41*cos(Thetac2))/1000) - dvz2*(Rz +
(41*sin(Thetac2))/1000))

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