Research Article
Dynamic Modeling and Analysis of a Novel 6-DOF Robotic Crusher Based on Movement Characteristics
Table 2
Position and orientation of point O
1 relative to the fixed point
.
| | Time | AX | AY | AZ | DX | DY | DZ |
| | 0.0000E+00 | -3.6704E-16 | -2.2204E-16 | -1.0644E-16 | 3.5527E-15 | -5.6843E-14 | 0.0000E+00 | | 1.0000E-02 | 5.6775E-04 | 1.3695E-04 | -1.3246E-03 | 1.4558E-03 | -2.5174E-01 | 0.0000E+00 | | 2.0000E-02 | 1.0441E-03 | 3.1864E-04 | -2.3878E-03 | -3.0296E-03 | -4.5261E-01 | 0.0000E+00 | | 3.0000E-02 | 1.5862E-03 | 2.8426E-04 | -3.5293E-03 | -2.6240E-02 | -6.6657E-01 | 0.0000E+00 | | 3.7012E-02 | 2.0335E-03 | 1.9493E-04 | -4.3315E-03 | -2.8522E-02 | -8.1314E-01 | 0.0000E+00 | | ⋮ | ⋮ | ⋮ | ⋮ | ⋮ | ⋮ | ⋮ | | 1.9980E+01 | -3.9468E-02 | -5.2918E-02 | 7.5980E-02 | -1.7257E+01 | 1.4016E+01 | 0.0000E+00 | | 1.9987E+01 | -3.9775E-02 | -5.2547E-02 | 7.6331E-02 | -1.7122E+01 | 1.4074E+01 | 0.0000E+00 | | 1.9990E+01 | -3.9957E-02 | -5.2380E-02 | 7.6586E-02 | -1.7053E+01 | 1.4118E+01 | 0.0000E+00 | | 1.9996E+01 | -4.0095E-02 | -5.2092E-02 | 7.6557E-02 | -1.6902E+01 | 1.4104E+01 | 0.0000E+00 | | 2.0000E+01 | -4.0052E-02 | -5.1936E-02 | 7.6583E-02 | -1.6836E+01 | 1.4112E+01 | 0.0000E+00 |
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