Research Article
Computational Design Scheme for Wind Turbine Drive-Train Based on Lagrange Multipliers
Table 4
Holonomic constraints of stage (1).
| | Joint Type | Body | Body | Number of constraints |
| | Rigid | Ground | Ring | 7 | | Revolute | Ground | Sun | 6 | | Revolute | Ground | Carrier | 6 | | Rigid | Carrier | Pin (1) | 7 | | Revolute | Pin (1) | Planet (1) | 6 | | Rigid | Carrier | Pin (2) | 7 | | Revolute | Pin (2) | Planet (2) | 6 | | Rigid | Carrier | Pin (3) | 7 | | Revolute | Pin (3) | Planet (3) | 6 |
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