{ "cells": [ { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "import sympy as sm\n", "import sympy.physics.mechanics as me\n", "sm.init_printing()" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [], "source": [ "q1, q2, q3, q4 = sm.symbols('q1:5')\n", "l1, l2, l3, l4 = sm.symbols('l1:5')" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "N, A, B, C = sm.symbols(\"N, A, B, C\", cls=me.ReferenceFrame)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "A.orient_body_fixed(N, (q1, q2, 0),'ZXZ')\n", "A.dcm(N)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "B.orient_axis(A, q3, A.x)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "C.orient_body_fixed(B, (q3, q4, 0), 'XZX')" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "r_P1_P2 = l1 * A.z" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "r_P2_P3 = l2 * B.z" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "r_P3_P4 = l3 *C.z - l4 *C.y" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "r_P1_P4 = r_P1_P2 + r_P2_P3 + r_P3_P4" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "r_P1_P4.express(B)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ "r_P1_P4.free_symbols(B)" ] } ], "metadata": { "kernelspec": { "display_name": "blade", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.10.16" } }, "nbformat": 4, "nbformat_minor": 2 }