Dynamic Modeling and Parameters Optimization of …
U 1 2 "Xk x x+φ yl xz −φ zl xy 2 +Xk y y−φ xl yz+φ zl yx 2 +Xk z z+φ xl zy −φ yl zx 2 #. (2) e Lagrange equation with 6 degrees of freedom is shownasfollows: d dt zT zq_!− zT zq + zU zq F, (3) where qis the generalized coordinates matrix of the vi- bration system, q [x,y,z,φ x,φ y,φ z]
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