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Método Raven

This document describes equations that model the movement of connected arrows. Position equations relate the angles and lengths of different arrows. Velocity equations are the derivatives of position with respect to time. Acceleration equations are the derivatives of velocity. Restrictions are that arrows cannot change length and one arrow is motionless. The equations are reduced by these restrictions to a system of four equations and four unknown variables: the angular velocities and accelerations of two moving arrows.

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60 views2 pages

Método Raven

This document describes equations that model the movement of connected arrows. Position equations relate the angles and lengths of different arrows. Velocity equations are the derivatives of position with respect to time. Acceleration equations are the derivatives of velocity. Restrictions are that arrows cannot change length and one arrow is motionless. The equations are reduced by these restrictions to a system of four equations and four unknown variables: the angular velocities and accelerations of two moving arrows.

Uploaded by

sirwolf0
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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In this chapter,

The following equations describe

All elements movements can be modelled through arrows, arrows that must follow some given
rules.

The easiest case, in which arrows restrictions are:

Arrows are joint by their tips


Position equations:

^x [ a cos 1+ bcos 2=c cos 3+ dcos 4 ]

^y [ asin 1+ bsin 2 =c sin 3 +d sin 4 ]

Velocity equations:

Those are the first derivative of the position equations, knowing the characteristics of these
arrows, which are:

Arrows are not able to modify their length


Third arrow: motionless entity

Thus, derivating:

^x [ d ( acos 1+ bcos 2=c cos 3+ d cos 4 )


dx ]
^y [ d(a sin 1+ bsin 2=c sin 3 +d sin 4 )
dy ]
d (a cos 1 ) d (a) d ( cos 1)
= cos 1+ a = ax cos 1a 1 sin 1
dx dx dx
Results in:

^x [ ax cos 1a 1 sin 1 + b x cos 2b2 sin 2= c x cos 3c3 sin 3 + d x cos 4 d 4 sin 4 ]

^y [ ay cos 1+ a1 cos 1+ by cos 2 +b2 cos 2=cy cos 3 +c 3 cos 3 + d y cos 4 + d4 cos 4 ]

As arrows cannot modify their length: ax =bx =cx =dx =ay = by = c y =d y =0 , and as the
third arrow is an immobile entity: 3 =0

This implies that:

^x [ a 1 sin 1 +b2 sin 2=d 4 sin 4 ]

^y [ a1 cos 1+ b2 cos 2=d 4 cos 4 ]


Acceleration equations

First derivative of the position equations, this is, he second derivative of the position
equations:

So, in this case, derivating the velocity equations:

^x [ d ( a1 sin 1 +b 2 sin 2=d 4 sin 4 )


dx ]
^y [ d(a1 cos 1+ b2 cos 2=d 4 cos 4 )
dy ]
d (a1 sin 1) d (a) d ( 1) d (sin 1)
= 1 sin 1+ asin 1 + a 1=ax 1 sin 1+ 1 asin1 +a 21 cos
dx dx dx dx
Taking into account arrows restrictions: ax =bx =cx =dx =ay = by = c y =d y =0

The acceleration equations are as follows:

^x [ 1 asin 1 +a 21 cos 1 + 2 b sin 2+ b 22 cos 2 = 4 d sin 4 +d 24 cos 4 ]

^y [ 1 acos 1a 21 sin 1 + 2 bcos 2b 22 sin 2 = 4 dcos 4 d 24 sin 4 ]

New restrictions

At this point, we have four equations and six unknown values.

These unknown values are:

Arrow 1: 1 , 1

Arrow 2: 2 , 2

Arrow 4: 4 , 4

In this case, the first arrow is impelled by a motor of which the shaft rotates in a constant
velocity. This is:

1 =cte , 1=0

Therefore, now we have a system of 4 equations and 4 unknow variables:

[ a1 sin 1+ b2 sin 2=d4 sin 4 ]


[ a1 cos 1 +b2 cos 2=d4 cos 4 ]
[ a 21 cos 1 + 2 bsin 2+ b 22 cos 2 = 4 dsin 4 + d 24 cos 4 ]
[a 21 sin 1 + 2 bcos 2b 22 sin 2= 4 dcos 4 d 24 sin 4 ]

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