4、应用达朗贝尔一拉格朗日方程 令δx=0,8≠0 m2Sna·R6+F2Cosa.R69-F1x·R6q-J2a2·Rq=0 sin a+-(a )=0 令δx≠0,δ0=0 6 (F+F2e)x+ Fr cosoox=0 (m2+m2)a coso m2g+∞B 求解联立方程,得: m,gsin2 a 3(m,+m2)-2m2 cosa 2gsina(m,+m2) ar 3(m+m,2m, cos ax O y C2 D C1 A C B m1g m2 g FI1 FI 2 e FI 2 r MI2 x 令δ x = 0,δ 0 m2 gsin Rδ + FI2e cos Rδ − FI2r Rδ -J 2 2 Rδ = 0 ) 0 2 3 ( cos 1 sin + a1 − ar = g 4、应用达朗贝尔-拉格朗日方程 令 δ x 0,δ = 0 −(FI1 + FI2e )δ x + FI2r cosδ x = 0 cos ( ) 1 2 1 r m m m a a + = 求解联立方程,得: 2 1 2 2 1 2 r 2 1 2 2 2 1 3( ) 2 cos 2 sin ( ) 3( ) 2 cos sin2 m m m g m m a m m m m g a - - + + = + =