Continuing with Jacobian and its uses. ME 4135 – Slide Set 7 R. R. Lindeke, Ph. D. Connecting the Operator to the Jacobian. Examination of the Velocity Vector: If we consider motion to be made in UNIT TIME : dt = t = 1 Then x dot (which is dx/dt) – is dx
ME 4135 – Slide Set 7
R. R. Lindeke, Ph. D.
Populate it with the outtakes from the Ddot Vector – which was found from: J*Dqdot
After simplification: the 1st term is zero;
The second term is d32S22C2;
The 3rd term is d32C22C2
This is the ARM determinate, it would be zero whenever Cos(2) = 0 (90 or 270)