tag:blogger.com,1999:blog-61691242866730033122024-02-19T01:09:43.813-08:00b94611009b94611009http://www.blogger.com/profile/09954731260736677098noreply@blogger.comBlogger11125tag:blogger.com,1999:blog-6169124286673003312.post-59338854110013632112007-06-13T18:38:00.000-07:002007-06-13T18:43:11.304-07:00作業十三B94611009<br />楊子羲<br /><br /><strong>教授,我有一次作業缺交,雖然我早已做好且通知過教授了,不過我忘記打上標題,所以教授沒有批改<br />現在我已經補上標題了,麻煩教授在幫我打一次分數,謝謝<br />我缺的是作業5</strong><br /><br />1.試設計一組複式齒輪,使其轉速比為125(請說明思考步驟及結果)。<br /><br />準備AˋBˋC三個齒輪,其中A的齒輪數為5,B為25,C為625,則A與B的轉速比為25÷5=5,B與C的轉速比為625÷25=25,此時將A與B相連,B與C相連,則A與C的轉速比就是5×25=125<br /><br /><br />2.請指出本學期中你自己最感得意的一次作業(請說明其原因,且該作業必須在自己的部落格內)。<br /><br />我最滿意的是第四次作業<br /><br />當時我還不知道可以利用教授網頁上有的function,所以自己想辦法試圖畫出連桿的模樣,花了不少的時間<br /><br />後來覺得做的不完整,與同學討論後才知道已有資源可以利用,真是失策<br /><br />所以與其說第四次作業最滿意,不如說那次的作業令我印象最深刻吧b94611009http://www.blogger.com/profile/09954731260736677098noreply@blogger.com0tag:blogger.com,1999:blog-6169124286673003312.post-91263654926390149362007-06-06T21:07:00.000-07:002007-06-06T21:09:23.795-07:00作業十二B94611009<br />楊子羲<br /><br />1 .5/31日曾全程來上課。<br />2.一組標準全齒輪齒輪之徑節為8(亦可使用自設值),齒數分別為30T與48T,其工作壓力角為20度(可為14.5或25度,自選)。<br />.試求其接觸線長度,與接觸比。<br />.兩齒輪之節圓、基圓直徑各為如何?請列式計算其結果。<br />.此組齒輪是否會產生干涉現象?試列式證明之。<br />.可否利用draw_gear.m繪出其接合情形,並繪出其動畫效果。<br /><br />>> [c_ratio, c_length,ad,pc,pb,r2,r3,ag]=contact_ratio(8,30,48,20)<br />c_ratio = 1.7005<br />c_length = 0.6275<br />ad = 0.1250<br />pc = 0.3927<br />pb = 0.3690<br />r2 = 3.7500<br />r3 = 6<br />ag =<br /> 10.4850 9.9211 20.4061<br /> 6.5532 6.2007 12.7538<br /><br /><br /><br />接觸比:c_ratio = 1.7005<br />接觸線長度:c_length = 0.6275<br /><br /><br />齒輪節圓直徑:<br />r2=3.7500吋<br />r3=6吋<br /><br />基圓=節圓*cosθ<br />=><br />r2的基圓為3.75*cos20°=3.25吋<br />r3的基圓為6*cos20°=5.64吋<br /><br />設齒數分別為N1、N2,壓力角為X度<br />則當<br />N1*(N1+2*N2)*sinx*sinx<4*(1+N2)<br />時,會有干涉現象發生<br /><br />帶入本題的數值<br />30*(30+2*48)*sin20°*sin20°=442.17>4*(1+48)<br />所以沒有干涉<br /><br /><br />使用move_2gear<br /><object width="425" height="350"><param name="movie" value="http://www.youtube.com/v/H1ZNxrtj5s0"></param><param name="wmode" value="transparent"></param><embed src="http://www.youtube.com/v/H1ZNxrtj5s0" type="application/x-shockwave-flash" wmode="transparent" width="425" height="350"></embed></object>b94611009http://www.blogger.com/profile/09954731260736677098noreply@blogger.com0tag:blogger.com,1999:blog-6169124286673003312.post-75636222407411285502007-05-30T07:37:00.000-07:002007-05-30T19:40:48.460-07:00作業十一第一題<br />本週(5/24)有來上課。<br /><br /><br />第二題<br />某凸輪開始時先在0-100°區間滯留,然後提升後在200至260°區間滯留<br />,其高度(衝程)為5公分,其餘l由260°至360°則為返程。<br />升程採用等加速度運動,返程之運動型式自定。<br />設刻度區間為10°,試繪出其高度、速度及加速度與凸輪迴轉角度間之關係。<br /><br />1.設ψ凸輪之迴轉角度,ψ=100-200°為升程,轉折點為150°,起點100°,<br />令θ = ψ-100,β = 100及h = 5代入公式8.9,可得升程之第一段(θ=100-200°)<br />:<br />y(θ)=2h(θ/β)2=2(5)[(ψ-100)/100]2<br /><br />2. 而升程之第二段(θ=150-200°)則仍以ψ-100=θ,β=100及h=5代入公式8.10,<br />得:<br />y(θ)=h[1-2(1-θ/β)2]=(5)[1-2(1-{ψ-100}/100]2<br /><br />3. 返程之區間為260°至360°,轉折點為(260+360)/2=310°,而β=360-260=100°。設ψ-210=θ,代入返程一段的位移公式8.11,得第一區段(θ=210-285°):<br /><br />y(θ)=h[1-2(θ/β)2]=(5)[1-2({ψ-260}/100]2<br /><br />4. 返程第二段之區間為310至360度,其轉折點與β均與第3項同,<br />代入返程二段的位移公式,可以得到:<br />y(θ)=2h[1-(θ/β)2]=2(5)[1-({ψ-260}/100]2<br /><br /><br />%(theta:對應角度; ss:位移, vv:速度, aa:加速度)<br />% 計算升程對應點之資料:位移,速度及加速度<br />theta=100:10:200;<br />for i=1:length(theta)<br /> [ss(i), vv(i), aa(i)]=parabol_cam(theta(i),100,100,1,5,0);<br />end;<br />[theta' ss' vv' aa']<br />figure<br />plot(theta,ss,'b+:')<br />figure<br />plot(theta,vv,'r+:')<br />figure<br />plot(theta,aa,'g+:')<br />% Demo8_2<br />% 計算返程對應點之資料:位移,速度及加速度<br />theta=260:10:360;<br />for i=1:length(theta)<br /> [ss(i), vv(i), aa(i)]=parabol_cam(theta(i),260,100,-1,5,0);<br />end;<br />[theta' ss' vv' aa']<br />figure<br />plot(theta,ss,'b+:')<br />figure<br />plot(theta,vv,'r+:')<br />figure<br />plot(theta,aa,'g+:')<br /><br /><br />位移<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0JFL5bUsM5SWOdBLd2viJVGaZch6cL0-soppQrJd-oPHer7vmwtOlmQHf9muFp1EB0BGiGy90xd4ZwL1al7JGa54TSrdc4SFocFJ2l7P0IUF37cttW9iA7Pi1dXhsnP3eZCMpmqssm2k/s1600-h/11-1-1.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj0JFL5bUsM5SWOdBLd2viJVGaZch6cL0-soppQrJd-oPHer7vmwtOlmQHf9muFp1EB0BGiGy90xd4ZwL1al7JGa54TSrdc4SFocFJ2l7P0IUF37cttW9iA7Pi1dXhsnP3eZCMpmqssm2k/s320/11-1-1.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5070547564752820434" /></a><br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhYhT_0xfwxAbjrcMQ0BFGPhw1mRfEZNaMzD5u7AD_xrtF5JRIE_J-Jj4QDcQPM2mA51tJOAAUTvDfcVVW9oDqlXqCbmFnofXjfz4bn5Z1hBp7hVpUxN1ISdmyQUkhKfVrTptR1sGPBJdQ/s1600-h/11-1-2.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhYhT_0xfwxAbjrcMQ0BFGPhw1mRfEZNaMzD5u7AD_xrtF5JRIE_J-Jj4QDcQPM2mA51tJOAAUTvDfcVVW9oDqlXqCbmFnofXjfz4bn5Z1hBp7hVpUxN1ISdmyQUkhKfVrTptR1sGPBJdQ/s320/11-1-2.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5070547569047787746" /></a><br /><br />速度<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhlBEw7gDMFolFPNHwpNxQ5qUHnzDgDzLgDOAn_4VwS4pZH3FjRdC_9zFAS5fMp0XQqgivHmXSIWTUZ80fwKvDSMUmgH9-IWo3hPXJcBWrDOuCb9XX0FLdCvIs3wY8UnovIgjh8ZCBZ_40/s1600-h/11-2-1.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhlBEw7gDMFolFPNHwpNxQ5qUHnzDgDzLgDOAn_4VwS4pZH3FjRdC_9zFAS5fMp0XQqgivHmXSIWTUZ80fwKvDSMUmgH9-IWo3hPXJcBWrDOuCb9XX0FLdCvIs3wY8UnovIgjh8ZCBZ_40/s320/11-2-1.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5070547569047787762" /></a><br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjhHNUh7-5l67FPe5L0cJsB7CiBwy3RWelVN_a1PHxu2T9STr4EombCF29cSuKly3YiEtEsD9m9gEvqkxH5CdDywCfhWLvNjRVuBPdG4UpA_DnGV9EbZ7AwoRVsN4FS7bUkrDRrR27ebBA/s1600-h/11-2-2.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjhHNUh7-5l67FPe5L0cJsB7CiBwy3RWelVN_a1PHxu2T9STr4EombCF29cSuKly3YiEtEsD9m9gEvqkxH5CdDywCfhWLvNjRVuBPdG4UpA_DnGV9EbZ7AwoRVsN4FS7bUkrDRrR27ebBA/s320/11-2-2.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5070547573342755074" /></a><br /><br />加速度<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhstRkpZHDt0wQKbFCxb54GR_IDAMWGbVbl6uvWcjecGZHPBZiBFDGvupQ3DBTB1T23PWXP3FrR6GJDcYBRjyV5ORDKMfq3bVp6PegJWW-tyzKjYHishoMnGIwJBnnzYF1mwLn-nRMPvn4/s1600-h/11-3-1.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhstRkpZHDt0wQKbFCxb54GR_IDAMWGbVbl6uvWcjecGZHPBZiBFDGvupQ3DBTB1T23PWXP3FrR6GJDcYBRjyV5ORDKMfq3bVp6PegJWW-tyzKjYHishoMnGIwJBnnzYF1mwLn-nRMPvn4/s320/11-3-1.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5070547573342755090" /></a><br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhArBrrjETgLeNIrtRazZh3xNNORFpLpBJuNjrxWdCvK1xwIEsEA_xPcZ4m77qPDsEjbx9LIVB0Kp84j-6N2y1NxFiS-L_SJxWBHqPYIegMfHdBOISkc6WzkJ56u7YCP45QozBz-tVLVsA/s1600-h/11-3-2.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhArBrrjETgLeNIrtRazZh3xNNORFpLpBJuNjrxWdCvK1xwIEsEA_xPcZ4m77qPDsEjbx9LIVB0Kp84j-6N2y1NxFiS-L_SJxWBHqPYIegMfHdBOISkc6WzkJ56u7YCP45QozBz-tVLVsA/s320/11-3-2.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5070548483875821890" /></a><br /><br />第三題<br />依照題義,使用到教授的pincam function<br />設偏置量為零<br /><br />>>[x y]=pincam([0:10:360],15,5,0,10,[100 200 260],[2 2],-1)<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3gZB5N0IMsVvZ9A8Bnq9COfjmxiSOExexP8FCwy-tuay5xwm7DkxCtOeGxzih7it7qXmseTUHNuReRAPI5AeWo62YwVVXJRaSO3RAFU-Bja1UPkuk5XsSTUN3eQZ-9AYpZ6xiyWc57_s/s1600-h/11-4.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg3gZB5N0IMsVvZ9A8Bnq9COfjmxiSOExexP8FCwy-tuay5xwm7DkxCtOeGxzih7it7qXmseTUHNuReRAPI5AeWo62YwVVXJRaSO3RAFU-Bja1UPkuk5XsSTUN3eQZ-9AYpZ6xiyWc57_s/s320/11-4.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5070548483875821906" /></a><br /><br />第四題<br /><br /> <br /><br />for theta=1:100 <br /> r(theta)=15; %0~99度的時候r不變<br />end<br />for theta=101:201<br /> r(theta)=15+5*(theta-100)/100; %在這個範圍,衝程5被分成100份<br />end<br />for theta=201:260<br /> r(theta)=20; %r不變<br />end<br />for theta=261:360<br /> r(theta)=20-5*(theta-260)/100; %將衝程再次分成100段扣回<br />end<br />theta2=linspace(0,2*pi,360)<br />for p=1:360;s=r(1); <br />for q=1:359;r(q)=r(q+1);<br />end<br />r(360)=s;<br />polar(theta2,r)<br />pause(0.01)<br />end<br /><object width="425" height="350"><param name="movie" value="http://www.youtube.com/v/o0Mqb9sXRsg"></param><param name="wmode" value="transparent"></param><embed src="http://www.youtube.com/v/o0Mqb9sXRsg" type="application/x-shockwave-flash" wmode="transparent" width="425" height="350"></embed></object>b94611009http://www.blogger.com/profile/09954731260736677098noreply@blogger.com0tag:blogger.com,1999:blog-6169124286673003312.post-73014478217194754012007-05-16T06:21:00.000-07:002007-05-16T20:45:30.349-07:00作業九B94611009 楊子羲<br /><br />本週(5/3)有來上課<br /><br /><br /><br />若以曲桿作為驅動,則令整個系統的座標如下圖<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhUjIKYrYq3egNCy3mEfW_PHfLleDhPCGfTl8G3izhIjhxxYJdi6Ri9WM6-NuOKFsiZL4wuzAuQ7G5S-Q9zGwg9SL4hDbYIU2CIxJyJ2ZHRHxkqLDBW-w9v5UgyLMzdAotv_LCEtyOFjZc/s1600-h/9.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhUjIKYrYq3egNCy3mEfW_PHfLleDhPCGfTl8G3izhIjhxxYJdi6Ri9WM6-NuOKFsiZL4wuzAuQ7G5S-Q9zGwg9SL4hDbYIU2CIxJyJ2ZHRHxkqLDBW-w9v5UgyLMzdAotv_LCEtyOFjZc/s320/9.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5065148870635754338" /></a><br />由c點座標可知,系統的限制為L^2-(10-R*sinθ)^2>=0<br /><br />算出來的結果得知-47.47度到227.46度為可移動範圍<br /><br />以下是我用來畫出整個移動範圍的程式<br /><br /><br /><br />R=19 %曲桿<br />L=24 %連桿<br />X=10 %偏置量<br /><br />for theta1=-47.47:1:227.46<br /> if L^2-(X-R*sind(theta1))^2>=0 %把還是虛數的部分排除<br /> clf<br />line([0,R*cosd(theta1)], [0,R*sind(theta1)]) %曲桿的程式<br />line([R*cosd(theta1),(L^2-(10-R*sind(theta1))^2)^(1/2)+R*cosd(theta1)],[R*sind(theta1),X]) %連桿的程式<br />axis equal<br />axis ([-50 50 -50 50])<br />pause(0.01)<br /> else<br /> end<br />end<br /><br /><object width="425" height="350"><param name="movie" value="http://www.youtube.com/v/cAe0GTeePag"></param><param name="wmode" value="transparent"></param><embed src="http://www.youtube.com/v/cAe0GTeePag" type="application/x-shockwave-flash" wmode="transparent" width="425" height="350"></embed></object>b94611009http://www.blogger.com/profile/09954731260736677098noreply@blogger.com0tag:blogger.com,1999:blog-6169124286673003312.post-75406559030707563262007-05-09T07:07:00.000-07:002007-05-16T06:26:20.124-07:00作業八B94611009 楊子羲 <br />我本週四4/26)曾來上課。<br />第一題<br /><br />>> [val,form]=f4bar([4 3 3 5],0,45,10,0,-1,0)<br />val =<br /> 1.0e+003 *<br /><br /> 0.0040 0 0 0 0.0212 + 0.0212i 0.0021 + 0.0021i<br /> 0.0021 + 0.0021i 0.0450 0.0100 0 0.0041 - 0.0245i 0.0032 + 0.0049i<br /> 0.0011 + 0.0028i 0.0695 -0.0163 0.4914 -0.2121 - 0.2121i 0 <br /> -0.0008 + 0.0049i 0.0995 -0.0050 0.3836 -1.8712 - 0.4391i 0 <br /><br />form =<br /> 1<br /><br />第二題<br /><br />我不清楚此題的題義<br />因此我畫出 theta2=45 度的圖<br />再加上第一題的數據<br /><a href="http://homepage.ntu.edu.tw/~b94611009/801.jpg">圖片</a><br /><br /><br />第三題<br /><br />>> move_4paths([4 3 3 5],0,0,3,0,10,0,1,0,4,2)<br /><br />Qstart =<br /> 28.9550 度<br /><a href="http://homepage.ntu.edu.tw/~b94611009/8031.jpg">圖片</a><br /><br />Qstop =<br /> 331.0450 度<br /><a href="http://homepage.ntu.edu.tw/~b94611009/8032.jpg">圖片</a><br /><br />第四題<br /><br />檢查連桿類型 :<br />>> grashof(2,[4 3 3 5])<br />ans =<br />Non-Grashof Linkage<br /><br />由此可知此四連桿在theta2=[0:20:360]的時候有部分會沒有值<br /><a href="http://homepage.ntu.edu.tw/~b94611009/804.jpg">圖片</a><br /><br />第五題<br /><object width="425" height="350"><param name="movie" value="http://www.youtube.com/v/_ABIpOEb5YA"></param><param name="wmode" value="transparent"></param><embed src="http://www.youtube.com/v/_ABIpOEb5YA" type="application/x-shockwave-flash" wmode="transparent" width="425" height="350"></embed></object><strong></strong>b94611009http://www.blogger.com/profile/09954731260736677098noreply@blogger.com1tag:blogger.com,1999:blog-6169124286673003312.post-62491784978079480252007-04-25T05:58:00.000-07:002007-04-25T19:18:18.291-07:00B94611009 楊子羲<br />作業六<br />我有上本週(十二日)的課。<br /><br />6.1某一平面組合機構如下圖,其中包括兩滑塊元件一與地固定,另一分於固定於兩桿。青色者則為滑槽。試標出桿號及結數,並計算共計有多少連桿及結數。<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2zLjME5WwG8-3NC9V1i07cMOCdTKFuHtJSRuEuZsfY87GIGX6jIvUS-ZdEnpmav6IlrHQyVmnGVMYijaWI6RdhLYRYHaX3csxNiqy-l_y057WatWHcyFzzCElTB9luQv2ALAJm-slavA/s1600-h/3.1.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi2zLjME5WwG8-3NC9V1i07cMOCdTKFuHtJSRuEuZsfY87GIGX6jIvUS-ZdEnpmav6IlrHQyVmnGVMYijaWI6RdhLYRYHaX3csxNiqy-l_y057WatWHcyFzzCElTB9luQv2ALAJm-slavA/s320/3.1.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552220961229746" /></a><br /><br />利用古魯伯公式,計算此機構之可動度,請列出其計算方法。<br />A:<br /> 古魯伯公式為: M=3*(N-J-1)+F<br /> N=12 J=15<br /> F=12+1+2<br /> 所以F=12*1+1*1+2*2=17<br /> M=-12+17=5 自由度為5<br /><br />請利用function[df]=gruebler()函數計算其對應之可動度。<br />A:<br />>> gruebler(12,[12 1 2])<br /><br />ans =<br /><br /> 5<br /><br /><br />6.2 下面為一個立體機構,分別由兩個旋轉結,一個筒結及三個球結組成。試說明:<br /><br />各結之自由度如何?<br />A:<br /> 三個球結之自由度為3<br /> 兩個旋轉結之自由度為1<br /> 圓柱結之自由度為2<br /><br />利用古魯伯公式如何計算整個機構之自由度,可以動嗎?<br />A:<br /> m=6(N-J-1)+F=6(6-6-1)+13<br /> => m=7 <br /><br />請利用function[df]=gruebler()函數計算其對應之可動度,並相互印證。<br />A:<br />>> gruebler(6,[2 0 0 3 1])<br /><br />ans =<br /><br /> 7<br /><br />6.3<br /><br />何謂葛拉索機構及非葛拉索機構?<br />A:<br />四連桿組裡,(最短桿+最長桿)<(其他兩桿之和)的時候,至少有一桿可旋轉,稱為葛拉索第一類型,也做葛拉索型<br />;(最短桿+最長桿)>(其他兩桿之和)的時候,所有連桿皆為搖桿(三搖桿機構),稱為葛拉索第二類型,或是非葛拉索型<br /><br />假設有三組四連桿,設第一桿為固定桿,各桿長度分別如下:<br />第一組:桿1-桿4分別為7,4,6,5cm<br />第二組:桿1-桿4分別為8,3.6,5.1,4.1cm<br />第三組:桿1-桿4分別為5.4,3.1,6.6,4.7cm<br />試問各組應屬何種機構?其迴轉情況會如何?<br />試用grashof()函數檢驗上述三組的連桿組合。<br />A:<br />1.<br />7+4=6=5 為葛拉索第三類<br />>> grashof(1,[7 4 6 5])<br />ans =<br /> Neutral Linkage<br />2.<br />8+3.6>5.1+4.1 為葛拉索第二類<br />>> grashof(1,[8 3.6 5.1 4.1])<br />ans =<br /> Non-Grashof Linkage<br />3.<br />6.6+3.1<5.4+4.7 為葛拉索第一類<br />>> grashof(1,[5.4 3.1 6.6 4.7])<br />ans =<br /> Crank-Rocker Linkage<br /> <br />上述三組連桿若要成為葛拉索機構,則應如何改善?<br />A:<br />只有第一組連桿為非葛拉索連桿,如果要改變的話,就必須依照原理,使最長與最小連桿之大於或小於另外兩桿<br /><br /><br /><br />作業七<br /><br />本人(4/19)有上課。<br />題目內容:<br />設有三桿相連結成端桿(dyad)之型式。請利用網路講義中之函數dyad及dyad_draw作分析。 <br />function dyad_draw(rho,theta,td,tdd)其中:<br /><br />各桿之對應長度rho=[a, a+5, a-5]cm,a=(你的學號末一碼)+10;<br />各桿之對應起始角度theta=[0, 0, 0]度;<br />各桿之對應角速度為td=[0.2, 0.5, 0 .3]rad/s;<br />各桿之對應角加速度為tdd=[0, 0.1, 0.2]rad/s^2;<br />問:<br /><br />1.當t=[1 2 3 4 5]秒時,此端桿之對應方位如何?<br />t=1<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiy7FbUzrslSPZBGtsPGZSjtHNOWg6i-1DRgSbQTPv5pqOOlOi-kWw6Og5J471YiziDbxs9SQBEZ9izRoNUUMYvs28BjhyphenhyphenNMImt9Zu-bjW13GDn-_KpuCK2v6QnrwjRzVG9lwDKNhw57FA/s1600-h/71.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiy7FbUzrslSPZBGtsPGZSjtHNOWg6i-1DRgSbQTPv5pqOOlOi-kWw6Og5J471YiziDbxs9SQBEZ9izRoNUUMYvs28BjhyphenhyphenNMImt9Zu-bjW13GDn-_KpuCK2v6QnrwjRzVG9lwDKNhw57FA/s320/71.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552538788809746" /></a><br /><br />t=2<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiVrKBouIIZPDag8cfN9knvu5uns_Eqkks2gVyYtsZZ2CaiBQ-rOmfQl6mNkzEro_c5zYnlXBuFj4TF01bzm2TkT2rFC5k5-4vdMDqTqpV8nNFX9Q2sQ4yqzfbqbNpzkiFMdiovVV9URb0/s1600-h/72.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiVrKBouIIZPDag8cfN9knvu5uns_Eqkks2gVyYtsZZ2CaiBQ-rOmfQl6mNkzEro_c5zYnlXBuFj4TF01bzm2TkT2rFC5k5-4vdMDqTqpV8nNFX9Q2sQ4yqzfbqbNpzkiFMdiovVV9URb0/s320/72.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552543083777058" /></a><br /><br />t=3<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjV-rLqAKavGfrKy7iucOyDdSNBqsDgcHazWL8B0_ajNpyz2fW8hhD5SgOYRHoWpfls8OQoTJGt0ib0Ko6UwaM7pe0lKaiI0TPo0pr7QZCiLIl2Sz6EEXCum7T88kwNDCAEFGml8jF8KZQ/s1600-h/73.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjV-rLqAKavGfrKy7iucOyDdSNBqsDgcHazWL8B0_ajNpyz2fW8hhD5SgOYRHoWpfls8OQoTJGt0ib0Ko6UwaM7pe0lKaiI0TPo0pr7QZCiLIl2Sz6EEXCum7T88kwNDCAEFGml8jF8KZQ/s320/73.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552543083777074" /></a><br /><br /><br />t=4<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCoffcYMQbz_sQnGLWXOVQaFDC4yxDk5jcm0HAB9TsMJd2_bKd7hyphenhyphen19QjI_xWEgDzGfpsFcOFlnVvJs5ipRsABq9RjcFW3Z87e__171DBJTrUMeKiXdUtaEKOZ4Yzs_p7CponV9eyrFlQ/s1600-h/74.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjCoffcYMQbz_sQnGLWXOVQaFDC4yxDk5jcm0HAB9TsMJd2_bKd7hyphenhyphen19QjI_xWEgDzGfpsFcOFlnVvJs5ipRsABq9RjcFW3Z87e__171DBJTrUMeKiXdUtaEKOZ4Yzs_p7CponV9eyrFlQ/s320/74.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552671932795970" /></a><br /><br />t=5<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhhlkDq0hb2wqI5oyMx7yjUVsBatEaMnZgOqrWdpwXky7Wzhyphenhyphen3C4Ajwt7riuIcp1OVA_5yUHfMmPMKd0iD8oc6O2MW7YBRhq0W9tqJdpxuEec5HbiRJwwRPsyUxa0Y4QDYiV6vsHvN2TOc/s1600-h/75.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhhlkDq0hb2wqI5oyMx7yjUVsBatEaMnZgOqrWdpwXky7Wzhyphenhyphen3C4Ajwt7riuIcp1OVA_5yUHfMmPMKd0iD8oc6O2MW7YBRhq0W9tqJdpxuEec5HbiRJwwRPsyUxa0Y4QDYiV6vsHvN2TOc/s320/75.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552671932795986" /></a><br /><br />2.繪出三桿之結點之速度,加速度與時間t之關係。<br />第一桿<br />速度<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiv-MF_86fkksfeJoNF_18q5RjG9PaeCcAVpvW2EiO1veUzEDbwRxV3JZhnKbuYvI4s5W-ScA4hqjSSp-PuWyAxCCMDogf0x8iIKGa6DyT8iwUgGXpWFgkz6oCloZJFWV9_bDBL65TVXvQ/s1600-h/711.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiv-MF_86fkksfeJoNF_18q5RjG9PaeCcAVpvW2EiO1veUzEDbwRxV3JZhnKbuYvI4s5W-ScA4hqjSSp-PuWyAxCCMDogf0x8iIKGa6DyT8iwUgGXpWFgkz6oCloZJFWV9_bDBL65TVXvQ/s320/711.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552220961229762" /></a><br />加速度<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg8285lwNhsW67i-rXH8Q1xbJu0wOP7CJTKDhGT5k13xgz9oPChgMKaAOqx9w1izzu4YQngdt4Oerff2RC_4WToq5BIFWGOpH-cPskahl0KnsxHAXscYlTFhrJ_oxPNuztukHX6Svtnr-Q/s1600-h/712.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg8285lwNhsW67i-rXH8Q1xbJu0wOP7CJTKDhGT5k13xgz9oPChgMKaAOqx9w1izzu4YQngdt4Oerff2RC_4WToq5BIFWGOpH-cPskahl0KnsxHAXscYlTFhrJ_oxPNuztukHX6Svtnr-Q/s320/712.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552220961229778" /></a><br /><br />第二桿<br />速度<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEga_HOpwcI9P6gw-luRzdlxSiebKtLfYukludv8IYywt9v21sj1-5u-KcfKLxd9poWrSaM5vLlcHErcgk9ELwB_fpALUft7NkpRzUuOIy8EzGZD8zQotybewADKsFoXId1ZZLs3_sPpizo/s1600-h/721.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEga_HOpwcI9P6gw-luRzdlxSiebKtLfYukludv8IYywt9v21sj1-5u-KcfKLxd9poWrSaM5vLlcHErcgk9ELwB_fpALUft7NkpRzUuOIy8EzGZD8zQotybewADKsFoXId1ZZLs3_sPpizo/s320/721.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552225256197090" /></a><br />加速度<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhz5tiVBwjZbtpatiwGwPwCqsx89aC0JL5KZMXNnYr8FPrFIsUIKKq5z0iofSpwvmzE6fYYc_iBlAPOS7BSp220YDZyjGnqNP_-PTeWxHPCQkeKkyJUAzqgTZVOAiap__eZQW0HJ0R8Yvg/s1600-h/722.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhz5tiVBwjZbtpatiwGwPwCqsx89aC0JL5KZMXNnYr8FPrFIsUIKKq5z0iofSpwvmzE6fYYc_iBlAPOS7BSp220YDZyjGnqNP_-PTeWxHPCQkeKkyJUAzqgTZVOAiap__eZQW0HJ0R8Yvg/s320/722.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057554978330233970" /></a><br /><br />第三桿<br />速度<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjX0CCRPU-0caH2fZKm9NgrCHK7BhxZ-R3ThOpNvq-UskAL1v14AxzWaijop6UEMPNPBrW78ZrHlSaePjml1KgD0dSLPuGsJPc6RkMnQIfPvlnulTqouVC5u0RMkxTX_kDxTk9EhStnhVQ/s1600-h/731.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjX0CCRPU-0caH2fZKm9NgrCHK7BhxZ-R3ThOpNvq-UskAL1v14AxzWaijop6UEMPNPBrW78ZrHlSaePjml1KgD0dSLPuGsJPc6RkMnQIfPvlnulTqouVC5u0RMkxTX_kDxTk9EhStnhVQ/s320/731.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552538788809714" /></a><br />加速度<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjxibRquuuT-gb3Oo9lnc-vLJ3UPQHCmXhyphenhyphenY7bvm4MH4IxHMP4M6VQeUhv6IVFJlXV21TXK7TzW3elI60mKwaze5OdI_qOtAiedVtcD1nNeyDUDtN0U_jL4ZImkr-JsKMIy_YvRX5OyhJQ/s1600-h/733.jpg"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjxibRquuuT-gb3Oo9lnc-vLJ3UPQHCmXhyphenhyphenY7bvm4MH4IxHMP4M6VQeUhv6IVFJlXV21TXK7TzW3elI60mKwaze5OdI_qOtAiedVtcD1nNeyDUDtN0U_jL4ZImkr-JsKMIy_YvRX5OyhJQ/s320/733.jpg" border="0" alt=""id="BLOGGER_PHOTO_ID_5057552538788809730" /></a><br /><br />3.能作出此時間區段之動畫嗎?<br /><object width="425" height="350"><param name="movie" value="http://www.youtube.com/v/hwwVqTnd4-Q"></param><param name="wmode" value="transparent"></param><embed src="http://www.youtube.com/v/hwwVqTnd4-Q" type="application/x-shockwave-flash" wmode="transparent" width="425" height="350"></embed></object>b94611009http://www.blogger.com/profile/09954731260736677098noreply@blogger.com0tag:blogger.com,1999:blog-6169124286673003312.post-5256345641596956662007-04-11T04:23:00.000-07:002007-06-13T06:52:07.151-07:00作業五學號:b94611009 姓名:楊子羲<br /><br />一:<br />1.<br />試分別以一線畫繪出上手臂,下手臂及手掌的外形,令其座標組合名稱分別為arm1, arm2, palm,各組合之起點與終點分別為其連結點(注意:每人所做的應該不同,請勿抄襲)。<br /><br />假設手掌、上臂與下臂皆為直線,手掌長15CM 下臂為25CM 上臂為30CM<br /><br />theta1=0<br />theta2=30<br />theta3=45<br />arm1=[ 0 0 ; 30*cosd(theta1) 30*sind(theta1)]<br />arm2=[ 30*cosd(theta1) 30*sind(theta1); 25*cosd(theta2)+30*cosd(theta1) 30*sind(theta1)+25*sind(theta2)]<br />palm=[25*cosd(theta2)+30*cosd(theta1) 30*sind(theta1)+25*sind(theta2); 15*cosd(theta3)+25*cosd(theta2)+30*cosd(theta1) 30*sind(theta1)+25*sind(theta2)+15*sind(theta3)]<br /><br />line(arm1(:,1),arm1(:,2));axis equal<br />line(arm2(:,1),arm2(:,2));axis equal<br />line(palm(:,1),palm(:,2));axis equal<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiX2AckN8PeWyvMKxXyJjM54rv2Rnp7Vbz2NoaQjWuoFjwx0UqxY8tDYw_BKkBJnHmKzl0rkckyu56e2ic_cIJ8XK_MOdMLM_1ZQcKqyeT9Vf8piU6oNHTBwkO0zGn_wJ3h4hTRGXM1IMM/s1600-h/5-1.JPG"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiX2AckN8PeWyvMKxXyJjM54rv2Rnp7Vbz2NoaQjWuoFjwx0UqxY8tDYw_BKkBJnHmKzl0rkckyu56e2ic_cIJ8XK_MOdMLM_1ZQcKqyeT9Vf8piU6oNHTBwkO0zGn_wJ3h4hTRGXM1IMM/s320/5-1.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5052146370865930898" /></a><br /><br />2.<br />寫出一程式函數function body(L1,L2,L3,theta1,theta2,theta3),令其繪出整個手臂的外型。其對應角度除第一個上手臂之水平角度為theta1外,theta2為下手臂對上手臂的角度,theta3為手掌對下手臂之夾角,後二者反時針方向為正,順時針方向為負。其連桿連結角度關係如圖二。試就所撰寫之程式結構作一說明。<br /><br />function body(L1,L2,L3,theta1,theta2,theta3)<br /><br />theta1=-theta1<br />theta2=theta1+180+theta2<br />theta3=theta2+180+theta3<br />arm1=[ 0 0 ; L1*cosd(theta1) L1*sind(theta1)]<br />arm2=[L1*cosd(theta1) L1*sind(theta1); L2*cosd(theta2)+L1*cosd(theta1) L1*sind(theta1)+L2*sind(theta2)]<br />palm=[L2*cosd(theta2)+L1*cosd(theta1) L1*sind(theta1)+L2*sind(theta2); L3*cosd(theta3)+L2*cosd(theta2)+L1*cosd(theta1) L1*sind(theta1)+L2*sind(theta2)+L3*sind(theta3)]<br /><br />line(arm1(:,1),arm1(:,2));axis equal<br />line(arm2(:,1),arm2(:,2));axis equal<br />line(palm(:,1),palm(:,2));axis equal<br /><br />3.<br />試量自己的手臂尺寸作為輸入,當theta1=90度,theta2=-45度,theta3=-30度時,其位置如何。<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgpDD5cCQS4a4Pd1c7Fy_qHyvoGg5RMIfROhWldiNIt-j7XSSEKjX127DWo9WxRGbh09cDQLrWZMjY2Ll3oE9lfbNxVEDf1zPhjs0K3pbYM6MYMpX9zEG1iC_dJV17iu71yNxit0XwfTOQ/s1600-h/5-3.JPG"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgpDD5cCQS4a4Pd1c7Fy_qHyvoGg5RMIfROhWldiNIt-j7XSSEKjX127DWo9WxRGbh09cDQLrWZMjY2Ll3oE9lfbNxVEDf1zPhjs0K3pbYM6MYMpX9zEG1iC_dJV17iu71yNxit0XwfTOQ/s320/5-3.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5055298921482059106" /></a><br /><br /><br />4.<br />設theta1角度在-90度與-75度間變動,theta2在-45度至-35度間變動,而theta3則在-30度至-10度間變動。試將其變動區間分為十等分,模擬其動畫,並在部落格中顯示其動作。<br /><br /><object width="425" height="350"><param name="movie" value="http://www.youtube.com/v/8oe_tZFdFlo"></param><param name="wmode" value="transparent"></param><embed src="http://www.youtube.com/v/8oe_tZFdFlo" type="application/x-shockwave-flash" wmode="transparent" width="425" height="350"></embed></object><br /><br />二:<br />1.就人的手指頭關節而言,可以將其解析成為下列之三連桿。試參考第二章及第三章中利用連桿與旋轉結的觀念,分析一個手掌的指頭在同一平面上作移動的情形。請詳明分析過程中所可以涉及之假設。<br />2.就你自己的手掌尺寸為輸入,並請繪出四根指頭(大姆指除外)所可能展示的極限位置。<br /><br />第一題與第二題我一起做 以下是我做的function<br />function finger(L1,L2,L3)<br /><br />for th1=90:-30:0;<br /><br /> for th2=th1:-30:th1-90;<br /> <br /> for th3=th2:-30:th2-90;<br /> clf ;<br /> theta1=th1;<br /> theta2=th2;<br /> theta3=th3;<br /><br />linkshape([ 0 0 ],[ L1*cosd(theta1) L1*sind(theta1)],2);axis equal;<br />linkshape([L1*cosd(theta1) L1*sind(theta1)],[ L2*cosd(theta2)+L1*cosd(theta1) L1*sind(theta1)+L2*sind(theta2)],2);axis equal;<br />linkshape([L2*cosd(theta2)+L1*cosd(theta1) L1*sind(theta1)+L2*sind(theta2)] , [L3*cosd(theta3)+L2*cosd(theta2)+L1*cosd(theta1) L1*sind(theta1)+L2*sind(theta2)+L3*sind(theta3)],2);axis equal;<br />pause(0.1);<br />axis([-10 10 -10 10]);<br /> end;<br /> end;<br />end;<br /><br />以下是假設三節手指頭的長度分別為4、3、2CM的影片<br />>>finger(4,3,2)<br /><object width="425" height="350"><param name="movie" value="http://www.youtube.com/v/3bTiwfsh7BA"></param><param name="wmode" value="transparent"></param><embed src="http://www.youtube.com/v/3bTiwfsh7BA" type="application/x-shockwave-flash" wmode="transparent" width="425" height="350"></embed></object><br /><br /><br />3.<br /><br /><br />若手指為三個桿,其位置向量分別為[4 3 2]cm,對應位移角度為[10 135 12]度;角速度分別為10, 20, 30 rad/s,角加速均度為20rad/s^2<br /><br />>> [sv,th]=acc2([4 3 2],[10 135 12],[10 20 30],20)<br /><br />sv =<br /> 1.0e+003 *<br /><br /> 0.0050 0.0832 1.8328<br /><br />th =<br /> 40.5724 138.0167 -138.4050b94611009http://www.blogger.com/profile/09954731260736677098noreply@blogger.com0tag:blogger.com,1999:blog-6169124286673003312.post-22203401200260611682007-03-27T08:05:00.000-07:002007-03-28T16:54:13.538-07:00學號:B94611009 姓名:楊子羲<br /><br />第1題<br /><br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiTYn4teKOWoerafpTEyKapsNdBycmpoCBqPDhUch1_QihBq0fvw4zqasMFZUdUXevGk-1sTba9ecWLwQL63Q2UAx37dbpqht7KqrZ6SC5yn_NjD_I0BO9WuRnXjbZLjq9TwaIKVCtZIsk/s1600-h/homework4-1.JPG"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiTYn4teKOWoerafpTEyKapsNdBycmpoCBqPDhUch1_QihBq0fvw4zqasMFZUdUXevGk-1sTba9ecWLwQL63Q2UAx37dbpqht7KqrZ6SC5yn_NjD_I0BO9WuRnXjbZLjq9TwaIKVCtZIsk/s320/homework4-1.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5046814242966403202" /></a><br />上圖為全部的三角形所留下來的軌跡圖<br /><br />l=19<br />for theta=0:5:360<br />clf;axis([-25 50 -25 50]) <br />a=[0 0;l*cosd(60+theta) l*sind(60+theta);l*cosd(0+theta) ,l*sind(0+theta);0 0]<br />line(a(:,1),a(:,2))<br />pause(0.001);axis equal<br />end<br /><br />l=19<br />for theta=0:5:360<br />clf;axis([-25 50 -25 50]) <br />b=[0+l*cosd(60) 0+l*sind(60);l*cosd(-120+theta)+l*cosd(60) l*sind(-120+theta)+l*sind(60);l*cosd(-60+theta)+l*cosd(60) ,l*sind(-60+theta)+l*sind(60);0+l*cosd(60) 0+l*sind(60)]<br />line(b(:,1),b(:,2))<br />pause(0.001);axis equal<br />end<br /><br />l=19<br />for theta=0:5:360<br />clf;axis([-25 50 -25 50]) <br />c=[0+19 0;l*cosd(120+theta)+19 l*sind(120+theta);l*cosd(180+theta)+19 l*sind(180+theta);0+19 0]<br />line(c(:,1),c(:,2))<br />pause(0.001);axis equal<br />end<br /><br /><br />從第二題開始會用到連桿的程式 以下的程式是參考教授的網頁<br /> function linkshape(A,B,dd)<br />if nargin==2,dd=1;end;<br />d=abs(dd);AB=(B(1)+j*B(2))-(A(1)+j*A(2));<br />D=abs(AB);th=angle(AB);<br />t=linspace(pi/2,2.5*pi,20);<br />Cout=max(d/2,0.2)*exp(j*t');<br />Cin=Cout/2;<br />if dd>0,<br /> P=[0;Cin;Cout(1:10);D+Cout(11:20);D+Cin;D+Cout(20);Cout(1)];<br />else P=[Cin;0;D;D+Cin];end<br />xx=real(P);<br />yy=imag(P);<br />x=xx*cos(th)-yy*sin(th)+A(1);<br />y=xx*sin(th)+yy*cos(th)+A(2);<br />line(x,y);<br />axis equal<br /><br /><br />第2題<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEin88J0vWpJvq9g-TF6doizvSBKgjAV4AejXIGBxWXRSgwgy7C_AIGs_MHnyiBeDXdfa4XmqxP87BqxrTPJEYRVM9hcjoKDiPzQFP6iXc4CIJ5URPAUfZT2IYDzRSEqrv4g9cca1b8__2A/s1600-h/homework4-2-2.JPG"><img id="BLOGGER_PHOTO_ID_5046811468417529938" style="CURSOR: hand" alt="" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEin88J0vWpJvq9g-TF6doizvSBKgjAV4AejXIGBxWXRSgwgy7C_AIGs_MHnyiBeDXdfa4XmqxP87BqxrTPJEYRVM9hcjoKDiPzQFP6iXc4CIJ5URPAUfZT2IYDzRSEqrv4g9cca1b8__2A/s320/homework4-2-2.JPG" border="0" /></a><br />for theta=0:30:360;<br />linkshape([0 0],[10*cosd(theta) 10*sind(theta)],4)line([10*cosd(theta) 15],[10*sind(theta) 0]);<br />axis equal;<br />end<br /><br />第三題<br />1.<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjyZmkQK5xQkIb_SdQuA4_XeDOQ-cBazl-mRfMwRLPwNkBUKSphWKWFTzZvbKy8v6GOG8XcEW2HM2dCPza6IsfwVpy0YRBzpm2i8GGor7H1Cd4_MBJSy1ZveAq6IQQDCfdiXu-sDVO7sI4/s1600-h/homework4-2.JPG"><img id="BLOGGER_PHOTO_ID_5046811472712497266" style="CURSOR: hand" alt="" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjyZmkQK5xQkIb_SdQuA4_XeDOQ-cBazl-mRfMwRLPwNkBUKSphWKWFTzZvbKy8v6GOG8XcEW2HM2dCPza6IsfwVpy0YRBzpm2i8GGor7H1Cd4_MBJSy1ZveAq6IQQDCfdiXu-sDVO7sI4/s320/homework4-2.JPG" border="0" /></a><br /><br /> linkshape([0 0],[10 0],2)<br />linkshape([0 0],[3 4],3)<br />linkshape([3 4],[13 4],1.5)<br />linkshape([13 4],[10 0],2)<br /><br />2.<br /><br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhPI7OwlTERWzJuqqmCZ8JQDDa5iwLz3gLX5Bkt8v2HnhG1DeU86rTsulNgc2ihEy_TNf_77QeqnZ0Yn0DQ113FwcdEMIT96-nm4IDzX0WLGDBZ58r8_tb_q4tAZLxXq_qqld8dw3qmn5s/s1600-h/homework4-3-2-2.JPG"><img id="BLOGGER_PHOTO_ID_5046811468417529954" style="CURSOR: hand" alt="" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhPI7OwlTERWzJuqqmCZ8JQDDa5iwLz3gLX5Bkt8v2HnhG1DeU86rTsulNgc2ihEy_TNf_77QeqnZ0Yn0DQ113FwcdEMIT96-nm4IDzX0WLGDBZ58r8_tb_q4tAZLxXq_qqld8dw3qmn5s/s320/homework4-3-2-2.JPG" border="0" /></a><br /> for theta=0:30:360<br /> linkshape([0 0],[10 0],2)<br />linkshape([0 0],[5*cosd(atand(4/3)+theta) 5*sind(atand(4/3)+theta)],3)<br />linkshape([5*cosd(atand(4/3)+theta) 5*sind(atand(4/3)+theta)],[5*cosd(atand(4/3)+theta)+10 5*sind(atand(4/3)+theta)],1.5)linkshape([5*cosd(atand(4/3)+theta)+10 5*sind(atand(4/3)+theta)],[10 0],2);<br />axis equal;<br />end<br /><br />3.<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjaNnA0DMYPMPchdgFURdtMH3a0AL4B304bCBoPuX7LVIpbQjOghSLLORODB2JiO-Bl6l0rBRQIPWJB9WiHXoFD1xs_T7vtD_FEzAtlsooWhl8PrBIShEph3RwoU95-qQ7QpbAQBjIun_g/s1600-h/homework4-3-3.JPG"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjaNnA0DMYPMPchdgFURdtMH3a0AL4B304bCBoPuX7LVIpbQjOghSLLORODB2JiO-Bl6l0rBRQIPWJB9WiHXoFD1xs_T7vtD_FEzAtlsooWhl8PrBIShEph3RwoU95-qQ7QpbAQBjIun_g/s320/homework4-3-3.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5046863785414162626" /></a><br /><br /><br />linkshape([0 0],[10 0],2)<br />for theta=0:30:360 theta2=atand(4/3)+theta<br /><br />linkshape([0 0],[5*cosd(theta2) 5*sind(theta2)],3)<br /> if theta2<=180 || theta2>360<br /><br />linkshape([5*cosd(theta2) 5*sind(theta2)],[5*cosd(theta2)+10 5*sind(theta2)],1.5)<br />linkshape([5*cosd(theta2)+10 5*sind(theta2)],[10 0],2)<br /><br /> else if theta2>180 && theta2<=360<br />linkshape([5*cosd(theta2) 5*sind(theta2)],[5*cosd(theta2)+10 -5*sind(theta2)],1.5)<br />linkshape([5*cosd(theta2)+10 -5*sind(theta2)],[10 0],2)<br />axis equal<br /><br />end<br /> end<br />pause(0.5)<br />end<br /><br />下面是我先做好的 之後才找到教授的連桿<br />所以非常的土法煉鋼<br /><br />第3題<br /><br /><br />1.<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiqf3RAFuKZefLO_vUSKl4F9G6lNCIhn0pd2KpvwAprxu-tPqBNt22noud38yrAKbj1t7PbCmOeqyXtyI0WzpxB3pS95Q2ZJuHRQvM52FKjXGlGxFmbMTZNEuwP19zMdtTvO3V1ldwJ5h8/s1600-h/homework4-3-1.JPG"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiqf3RAFuKZefLO_vUSKl4F9G6lNCIhn0pd2KpvwAprxu-tPqBNt22noud38yrAKbj1t7PbCmOeqyXtyI0WzpxB3pS95Q2ZJuHRQvM52FKjXGlGxFmbMTZNEuwP19zMdtTvO3V1ldwJ5h8/s320/homework4-3-1.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5046815479916984466" /></a><br /><br />t=0 % t為角度<br />ab=[1.5*cosd(90+atand(4/3)+t) 1.5*sind(90+atand(4/3)+t);(109/4)^(1/2)*cosd(atand(3/10)+atand(4/3)+t) (109/4)^(1/2)*sind(atand(3/10)+atand(4/3)+t);(109/4)^(1/2)*cosd(-atand(3/10)+atand(4/3)+t) (109/4)^(1/2)*sind(-atand(3/10)+atand(4/3)+t);1.5*cosd(-90+atand(4/3)+t) 1.5*sind(-90+atand(4/3)+t);1.5*cosd(90+atand(4/3)+t) 1.5*sind(90+atand(4/3)+t)]<br />cd=[1*cosd(90+atand(4/3)+t)+10 1*sind(90+atand(4/3)+t);(26)^(1/2)*cosd(atand(1/5)+atand(4/3)+t)+10 (26)^(1/2)*sind(atand(1/5)+atand(4/3)+t);(26)^(1/2)*cosd(-atand(1/5)+atand(4/3)+t)+10 (26)^(1/2)*sind(-atand(1/5)+atand(4/3)+t);1*cosd(-90+atand(4/3)+t)+10 1*sind(-90+atand(4/3)+t);1*cosd(90+atand(4/3)+t)+10 1*sind(90+atand(4/3)+t)]<br />ad=[0 1;10 1;10 -1;0 -1;0 1]<br />bc=[5*cosd(atand(4/3)+t) 5*sind(atand(4/3)+t)+0.75;5*cosd(atand(4/3)+t)+10 5*sind(atand(4/3)+t)+0.75;5*cosd(atand(4/3)+t)+10 5*sind(atand(4/3)+t)-0.75;5*cosd(atand(4/3)+t) 5*sind(atand(4/3)+t)-0.75;5*cosd(atand(4/3)+t) 5*sind(atand(4/3)+t)+0.75]<br />line(ab(:,1),ab(:,2));axis equal<br />line(cd(:,1),cd(:,2))<br />line(ad(:,1),ad(:,2))<br />line(bc(:,1),bc(:,2))<br /><br />2.<br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi7DxfX2I8651Nd-LxeaYjjbNzyLSs7FUtLkxPfZlHTpbQ-nbbOs-GgdIl3goLL_RQfLXcQgwAV5_4kRZMvKhWVdNkJjM5omEZmKI8rmMFZEW-6pieYhBaHwgDmD1kaILhubLB5cKfjCO0/s1600-h/homework4-3-2.JPG"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi7DxfX2I8651Nd-LxeaYjjbNzyLSs7FUtLkxPfZlHTpbQ-nbbOs-GgdIl3goLL_RQfLXcQgwAV5_4kRZMvKhWVdNkJjM5omEZmKI8rmMFZEW-6pieYhBaHwgDmD1kaILhubLB5cKfjCO0/s320/homework4-3-2.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5046815754794891426" /></a><br />for t=0:30:360 % t為角度<br />ab=[1.5*cosd(90+atand(4/3)+t) 1.5*sind(90+atand(4/3)+t);(109/4)^(1/2)*cosd(atand(3/10)+atand(4/3)+t) (109/4)^(1/2)*sind(atand(3/10)+atand(4/3)+t);(109/4)^(1/2)*cosd(-atand(3/10)+atand(4/3)+t) (109/4)^(1/2)*sind(-atand(3/10)+atand(4/3)+t);1.5*cosd(-90+atand(4/3)+t) 1.5*sind(-90+atand(4/3)+t);1.5*cosd(90+atand(4/3)+t) 1.5*sind(90+atand(4/3)+t)]<br />cd=[1*cosd(90+atand(4/3)+t)+10 1*sind(90+atand(4/3)+t);(26)^(1/2)*cosd(atand(1/5)+atand(4/3)+t)+10 (26)^(1/2)*sind(atand(1/5)+atand(4/3)+t);(26)^(1/2)*cosd(-atand(1/5)+atand(4/3)+t)+10 (26)^(1/2)*sind(-atand(1/5)+atand(4/3)+t);1*cosd(-90+atand(4/3)+t)+10 1*sind(-90+atand(4/3)+t);1*cosd(90+atand(4/3)+t)+10 1*sind(90+atand(4/3)+t)]<br />ad=[0 1;10 1;10 -1;0 -1;0 1]<br />bc=[5*cosd(atand(4/3)+t) 5*sind(atand(4/3)+t)+0.75;5*cosd(atand(4/3)+t)+10 5*sind(atand(4/3)+t)+0.75;5*cosd(atand(4/3)+t)+10 5*sind(atand(4/3)+t)-0.75;5*cosd(atand(4/3)+t) 5*sind(atand(4/3)+t)-0.75;5*cosd(atand(4/3)+t) 5*sind(atand(4/3)+t)+0.75]<br />line(ab(:,1),ab(:,2));axis equal<br />line(cd(:,1),cd(:,2))<br />line(ad(:,1),ad(:,2))<br />line(bc(:,1),bc(:,2))<br /><br />endb94611009http://www.blogger.com/profile/09954731260736677098noreply@blogger.com0tag:blogger.com,1999:blog-6169124286673003312.post-35407489801679080352007-03-27T08:03:00.000-07:002007-03-27T23:46:45.826-07:00<a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQN5Hd1nrAbKPbhsfioVmU7HPKPQ14mhCxjVMCqFBJZ_drcsQ6TSYboXeBJGjLglFDz9VBvutbfw7MEHsvDCoOWTxrrvZu8M8iZqYWPhHmsCtcqUn4wSeYaeyWm_qbY-5-vXO1-0xrt2A/s1600-h/homework4-3-3.JPG"><img style="cursor:pointer; cursor:hand;" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQN5Hd1nrAbKPbhsfioVmU7HPKPQ14mhCxjVMCqFBJZ_drcsQ6TSYboXeBJGjLglFDz9VBvutbfw7MEHsvDCoOWTxrrvZu8M8iZqYWPhHmsCtcqUn4wSeYaeyWm_qbY-5-vXO1-0xrt2A/s320/homework4-3-3.JPG" border="0" alt=""id="BLOGGER_PHOTO_ID_5046863128284166322" /></a><br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQ1hUGZMfYRW1TFji_jC_IuEEYdnQDgZyENEVC9dV698QIn3Dehne355-a6esS-9JaW7qB8hmZjk14txRzhcOKdVK87TvV4UsG4VewBMLKxd_grN8HWO7j_WoEhHEGfZ11ocb2SnqP97U/s1600-h/homework4-2-2.JPG"><img id="BLOGGER_PHOTO_ID_5046808230012188738" style="FLOAT: right; MARGIN: 0px 0px 10px 10px; CURSOR: hand" alt="" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQ1hUGZMfYRW1TFji_jC_IuEEYdnQDgZyENEVC9dV698QIn3Dehne355-a6esS-9JaW7qB8hmZjk14txRzhcOKdVK87TvV4UsG4VewBMLKxd_grN8HWO7j_WoEhHEGfZ11ocb2SnqP97U/s320/homework4-2-2.JPG" border="0" /></a><br /><div><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQXyZoJR6r-cx-7DTgY5ho8cMQJH3lVzp0H1uO_jeOM6BU-WGV_ljKX0EHkze80A0auL8G2nkVgQlrnK-sz3bFc4ymjCoGnxT8_Ns0lEzyQU5BY9oG_4xlL3X8BNCb-qWAl-FQqv1yqvE/s1600-h/homework4-3-2-2.JPG"><img id="BLOGGER_PHOTO_ID_5046806705298798642" style="FLOAT: right; 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MARGIN: 0px 0px 10px 10px; CURSOR: hand" alt="" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiMNPDMJNFrt2mGcfYHWMB7cSmkSvd-qzAgbhFQf-LRnDGYzjWEwoawXn16cFdbQFtmWhPlYy5Ix4OOlbkrEgo63ElBfvM0xxg_a8M8cG-ZYIMHavNQBXTVPDhxaAUQ7dYfu9KQo-LpfGE/s320/homework4-1.JPG" border="0" /></a><br /><br /><br /><br /><div><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjUk2lbiUxkpmDnEbFEPG13KVglWBK-KJxYWF60iGmzUoheQv178oQLyf_bsBDU1xAnuuViCpy7vxOw6J_r0UE48Rdnm0yfqisTPQfznzs6XwrohX817gpKvIwDfe8pbWcX8OfAK3QOkzs/s1600-h/homework4-2.GIF"><img id="BLOGGER_PHOTO_ID_5046620471893891826" style="FLOAT: left; MARGIN: 0px 10px 10px 0px; CURSOR: hand" alt="" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjUk2lbiUxkpmDnEbFEPG13KVglWBK-KJxYWF60iGmzUoheQv178oQLyf_bsBDU1xAnuuViCpy7vxOw6J_r0UE48Rdnm0yfqisTPQfznzs6XwrohX817gpKvIwDfe8pbWcX8OfAK3QOkzs/s320/homework4-2.GIF" border="0" /></a><br /><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh7p9vkn27q9eMsjVXqikHOsKXJLbC0HbEvZslo61g8ebjwQrAz5RZFirIehmtct5EAu3YoUQ4UzsyekyyM7Nz1UWTKRuX0wcBCTWKDLKgzcOcmMEg0LV5uqe7HfJDX9Lx34QbWcoZoGS0/s1600-h/homework4-3-1.JPG"><img id="BLOGGER_PHOTO_ID_5046620476188859138" style="FLOAT: left; 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