Colle - 1 - Correction
Colle - 1 - Correction
Colle - 1 - Correction
Vitesse – Accélération
09/12/2016 C–S3–C1
Composition
⃗⃗⃗⃗
𝒚𝟑
⃗⃗⃗⃗
𝒚𝟐 ⃗⃗⃗⃗
𝒚𝟏 𝜽𝟑/𝟐
𝑳𝟑
2 C
⃗⃗⃗⃗
𝒚𝟎 ⃗⃗⃗⃗
𝒙𝟐 ⃗⃗⃗⃗
𝒙𝟑
B 𝑳𝟐 𝜽𝟐/𝟏 3
D
1 ⃗⃗⃗⃗
𝒙𝟏 a
O ⃗⃗⃗⃗
𝒙𝟎
A
𝝀𝟏/𝟎
⃗⃗⃗⃗𝟎)
𝑮𝒍(𝒙 𝑷(𝑩, 𝒛
⃗⃗⃗⃗𝟎 ) 𝑷(𝑪, 𝒛
⃗⃗⃗⃗𝟎 )
0 1 2 3
⃗⃗⃗⃗⃗⃗
𝑑𝑂𝐷 ⃗⃗⃗⃗⃗ + ⃗⃗⃗⃗⃗
𝑑(𝑂𝐴 𝐴𝐵 + ⃗⃗⃗⃗⃗
𝐵𝐶 + ⃗⃗⃗⃗⃗
𝐶𝐷 )
⃗ (𝐷, 3/0) =
𝑉 ) = )
𝑑𝑡 0 𝑑𝑡 0
⃗⃗⃗⃗⃗
𝑑𝑂𝐴 ⃗⃗⃗⃗⃗
𝑑𝐴𝐵 ⃗⃗⃗⃗⃗
𝑑𝐵𝐶 ⃗⃗⃗⃗⃗
𝑑𝐶𝐷
⃗ (𝐷, 3/0) =
𝑉 ) + ) + ) + )
𝑑𝑡 0 𝑑𝑡 0 𝑑𝑡 0 𝑑𝑡 0
𝑑𝜆1/0 ⃗⃗⃗⃗
𝑥0 𝑑𝑎𝑦
⃗⃗⃗⃗0 𝑑𝐿2 ⃗⃗⃗⃗
𝑥2 𝑑𝐿3 ⃗⃗⃗⃗
𝑥3
⃗ (𝐷, 3/0) =
𝑉 ) + ) + ) + )
𝑑𝑡 0
𝑑𝑡 0 𝑑𝑡 0 𝑑𝑡 0
⃗ (𝐷, 3/0) = 𝜆̇1/0 ⃗⃗⃗⃗
𝑉 𝑥0 + 𝐿2 𝜃̇2/1 ⃗⃗⃗⃗
𝑦2 + 𝐿3 (𝜃̇3/2 + 𝜃̇2/1 )𝑦
⃗⃗⃗⃗3
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Dernière mise à jour Colles Cinématique Denis DEFAUCHY
Vitesse – Accélération
09/12/2016 C–S3–C1
Composition
⃗ (𝐷, 3/0) = 𝑉
𝑉 ⃗ (𝐷, 3/2) + 𝑉 ⃗ (𝐷, 2/1) + 𝑉
⃗ (𝐷, 1/0 )
⃗ (𝐷, 3/0) = 𝛺
𝑉 ⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗
3/2 ⋀𝐶𝐷 + 𝛺2/1 ⋀𝐵𝐷 + 𝜆1/0 ⃗⃗⃗⃗
̇ 𝑥0
⃗ (𝐷, 3/0) = 𝛺
𝑉 ⃗⃗⃗⃗⃗⃗⃗⃗
3/2 ⋀𝐿3 ⃗⃗⃗⃗ 𝑥3 + 𝛺 ⃗⃗⃗⃗⃗⃗⃗⃗
2/1 ⋀(𝐿2 ⃗⃗⃗⃗ 𝑥3 ) + 𝜆̇1/0 ⃗⃗⃗⃗
𝑥2 + 𝐿3 ⃗⃗⃗⃗ 𝑥0
⃗ (𝐷, 3/0) = 𝜃̇3/2 𝐿3 ⃗⃗⃗⃗
𝑉 𝑦3 + 𝜃̇2/1 𝐿2 ⃗⃗⃗⃗ 𝑦3 + 𝜆̇1/0 ⃗⃗⃗⃗
𝑦2 + 𝜃̇2/1 𝐿3 ⃗⃗⃗⃗ 𝑥0
⃗ (𝐷, 3/0) = (𝜃̇3/2 + 𝜃̇2/1 )𝐿3 ⃗⃗⃗⃗
𝑉 𝑦2 + 𝜆̇1/0 ⃗⃗⃗⃗
𝑦3 + 𝜃̇2/1 𝐿2 ⃗⃗⃗⃗ 𝑥0
⃗ (𝐷, 3/0) = (−(𝜃̇3/2 + 𝜃̇2/1 )𝐿3 sin(𝜃3/2 + 𝜃2/1 ) − 𝜃̇2/1 𝐿2 sin 𝜃2/1 + 𝜆̇1/0 )𝑥
𝑉 ⃗⃗⃗⃗0
+ ((𝜃̇3/2 + 𝜃̇2/1 )𝐿3 cos(𝜃3/2 + 𝜃2/1 ) + 𝜃̇2/1 𝐿2 cos 𝜃2/1 ) ⃗⃗⃗⃗
𝑦0
Question 6: Quelle condition doit être respectée si l’on souhaite que le point 𝑫 ait un
déplacement vertical ?
⃗ (𝐷, 3/0)
𝑑𝑉
𝛤 (𝐷, 3/0) = )
𝑑𝑡 0
̇
𝑑(𝜆1/0 ⃗⃗⃗⃗ ̇ 𝑦2 + 𝐿3 (𝜃3/2 + 𝜃̇2/1 )𝑦
𝑥0 + 𝐿2 𝜃2/1 ⃗⃗⃗⃗ ̇ ⃗⃗⃗⃗3 )
𝛤 (𝐷, 3/0) = )
𝑑𝑡 0
𝑑(𝜆̇1/0 ⃗⃗⃗⃗
𝑥0 ) 𝑑(𝐿2 𝜃̇2/1 ⃗⃗⃗⃗
𝑦2 ) 𝑑(𝐿3 (𝜃̇3/2 + 𝜃̇2/1 )𝑦 ⃗⃗⃗⃗3 )
𝛤 (𝐷, 3/0) = ) + ) + )
𝑑𝑡 0
𝑑𝑡 0
𝑑𝑡 0
2 2
𝛤 (𝐷, 3/0) = 𝜆̈1/0 ⃗⃗⃗⃗
𝑥0 + 𝐿2 𝜃̈2/1 ⃗⃗⃗⃗
𝑦2 − 𝐿2 𝜃̇2/1 ⃗⃗⃗⃗
𝑥2 + 𝐿3 (𝜃̈3/2 + 𝜃̈2/1 )𝑦
⃗⃗⃗⃗3 − 𝐿3 (𝜃̇3/2 + 𝜃̇2/1 ) ⃗⃗⃗⃗
𝑥3
⃗ (𝑫, 𝟑/𝟎).
Question 8: Calculer la valeur de 𝑽
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