Biomedical Engineering Reference
In-Depth Information
m
2
,
I
y
=
m
2
,
I
z
m
2
,
l
d
=
3
.
22 kg,
I
x
=
0
.
0138 kg
·
0
.
0024 kg
·
=
0
.
0138 kg
·
13
.
86 cm,
l
p
=
60 Hz.
From the kinematic and kinetic measures presented in Tables 7.3 and 7.4,
we complete the analysis of frame 6:
a
x
18
.
15 cm, frame rate
=
7
.
029 m
/
s
2
,
a
Y
1
.
45 m
/
s
2
,
a
Z
=
=
=
.
348 m
/
s
2
. Refer to the three steps in Section 7.4.1.
−
Step 1
R
XP
−
R
XD
=
ma
X
,
0
R
XP
=−
119
.
04
+
3
.
22
×
7
.
029
=−
96
.
41 N
R
YP
−
R
YD
−
mg
=
ma
Y
,
R
YP
=−
791
.
44
+
3
.
22
×
9
.
814
+
3
.
22
×
1
.
45
=−
755
.
17 N
R
ZP
−
R
ZD
=
ma
Z
,
R
ZP
=−
12
.
03
+
3
.
22
×
(
−
.
348
)
=−
13
.
15 N
Step 2
θ
1
=−
0
.
1478 rad
=−
8
.
468
◦
,
θ
2
=−
0
.
025 rad
=−
1
.
432
◦
,
θ
3
=−
26
.
385
◦
=−
0
.
4605 rad
cos
θ
1
=
0
.
9891,
sin
θ
1
=−
.
1476
cos
θ
2
=
0
.
9997,
sin
θ
2
=−
0
.
025
cos
θ
3
=
0
.
8958,
sin
θ
3
=−
.
4444
Substituting these values in the [G to A] matrix [Equation (7.5)], we get:
⎡
⎤
⎡
⎤
c
2
c
3
s
3
c
1
+
s
1
s
2
c
3
s
1
s
3
−
c
1
s
2
c
3
0
.
8955
−
0
.
4363
0
.
0875
⎣
⎦
=
⎣
⎦
−
c
2
s
3
c
1
c
3
−
s
1
s
2
s
3
s
1
c
3
+
c
1
s
2
s
3
0
.
4443
0
.
8877
−
0
.
121
s
2
−
s
1
c
2
c
1
c
2
−
0
.
025
0
.
1473
0
.
9888
We can now transform the reaction forces from the global to the anatomical
axes system:
⎡
⎤
⎡
⎤
⎡
⎤
R
xd
R
yd
R
zd
0
.
8955
−
0
.
4363
0
.
0875
R
XD
R
YD
R
ZD
⎣
⎦
=
⎣
⎦
⎣
⎦
0
.
4443
0
.
8877
−
0
.
121
−
0
.
025
0
.
1473
0
.
9888
⎡
⎤
⎡
⎤
⎡
⎤
0
.
8955
−
0
.
4363
0
.
0875
−
119
.
04
237
.
65
⎣
⎦
⎣
⎦
=
⎣
⎦
=
0
.
4443
0
.
8877
−
0
.
121
−
791
.
44
−
−
754
.
00
−
0
.
025
0
.
1473
0
.
9888
12
.
03
−
125
.
50
⎡
⎤
⎡
⎤
⎡
⎤
R
xp
R
yp
R
zp
0
.
8955
−
0
.
4363
0
.
0875
R
XP
R
YP
R
ZP
⎣
⎦
=
⎣
⎦
⎣
⎦
0
.
4443
0
.
8877
−
0
.
121
−
0
.
025
0
.
1473
0
.
9888
⎡
⎤
⎡
⎤
⎡
⎤
0
.
8955
−
0
.
4363
0
.
0875
−
96
.
41
241
.
99
⎣
⎦
⎣
⎦
=
⎣
⎦
=
0
.
4443
0
.
8877
−
0
.
121
−
755
.
17
−
−
711
.
61
−
0
.
025
0
.
1473
0
.
9888
13
.
15
−
121
.
83
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