(1)dA=mgsineds-umg cosods mgdh-umgdl (2 d4,mgdh-ymgdids) 最大 0 mgdh-mgdlds) mg cos0-N =m 、N-mg cos0=m ds h (1) (3) END (2) )dd(dd 2 2 s v lgmhmgA ρ μ −−= )dd(dd 2 3 s v lgmhmgA ρ (3) μ +−= (1) 1 dsind dcos smgsmgA 最大 = θ − μ θ ρ θ 2 cos v =− mNmg ρ θ 2 cos v mgN =− m h l h h l l (1) (2) (3) s r d END = − μ dd lmghmg