Читать книгу Kinematics of General Spatial Mechanical Systems - M. Kemal Ozgoren - Страница 37

In the following formulas, σ_ijk is defined as in Chapter 1. That is, for distinct indices only,

(2.79)

1  Expansion Formulas

If j ≠ i,

(2.80)

(2.81)

If j = i,

(2.82)

1  Shifting Formulas with Quarter and Half Rotations

If j ≠ i,

(2.83)

(2.84)

If j = i,

(2.85)

(2.86)

1  Three Successive Half Rotations About Mutually Orthogonal Axes

Provided that i ≠ j ≠ k,

(2.87)