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