sekcja nr 6 Bajan Owczarek, Szemliński, Zieliński, Zabicki π
π
π
γ :=
⋅30
β :=
⋅45
α :=
⋅40
180
180
180
c := 1
b := 0.54
a := 0.6
cos(γ)
s
− in(γ) 0
cos(β) 0 sin(β)
1
0
0
Rzγ :=
sin(γ)
cos(γ)
0
Ryβ :=
0
1
0
Rxα :=
0 cos(α)
s
− in(α)
0
0
1
s
− in(β) 0 cos(β)
0 sin(α) cos(α)
0
a
0
dyb :=
b
dzc :=
0
dxa :=
0
0
0
c
ad a)
W4 := ( 0 0 0 1 ) Rdz := augment(Rzγ, d zc)
0.866
0
− .5 0 0
H10a := stack(Rdz, W
4)
0.5
0.866 0 0
H10a = 0
0
1 1
0
0
0 1
Rdy := augment(Ryβ, d yb)
0.707 0 0.707
0
0
1
0
0.54
H21a := stack(Rdy, W
4)
H21a =
H20a := H10a⋅H21a 0
− .707 0 0.707 0
0.51
0
0
0
1
0.7
P2a :=
P1a := H21a⋅P2a P0a := H21a⋅P1a P0a1 := H20a⋅P2a 0.9
1
0.997
0.9
0.243
1.24
1.78
1.572
P1a =
P0a =
P0a1 =
0.276
0
− .51
1.276
1
1
1
ad b)
Rdz := augment(Rzγ, d zc)
0.866
0
− .5 0 0
H10b := stack(Rdz, W
4)
0.5
0.866 0 0
H10b = 0
0
1 1
0
0
0 1
1
0.707 0 0.707
0
0
1
0
0.54
H21b := stack(Rdy, W
4)
H21b = 0
− .707 0 0.707 0
0
0
0
1
Rdx := augment(Rxα, d xa)
1
0
0
0.6
0 0.766
0
− .643 0
H32b := stack(Rdx , W
4)
H32b =
H30b := H10b⋅H21b⋅H32b 0 0.643 0.766
0
0
0
0
1
0.46
0.8
P3b :=
P2b := H32b⋅P3b P1b := H21b⋅P2b P0b := H10b⋅P1b 0.45
1
P0b1 := H30b⋅P3b
1.06
1.357
0.743
0.743
0.324
0.864
1.426
1.426
P2b =
P1b =
P0b =
P0b1 =
0.859
0
− .142
0.858
0.858
1
1
1
1
ad c)
H20ca := H21a⋅H10a H30cb := H32b⋅H21b⋅H10b 2