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Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-38

Substituting into (4.1-32)

(X

2

+ C

1

r – X

c1

)

2

+ (Y

2

+ C

2

r – Y

c1

)

2

= (R

1

+ r)

2

(2.3.1-35)

(C

1

r + C

3

)

2

+ (C

2

r + C

4

)

2

= (R

1

+ r)

2

(2.3.1-36)

r

2

[(C

1

)

2

+(C

2

)

2

–1] + r[2C

1

C

3

+2C

2

C

4

–2R

1

] + [(C

3

)

2

+ (C

4

)

2

–(R

1

)

2

] = 0

(2.3.1-37)

But

(C

1

)

2

+(C

2

)

2

–1 = (X

c2

– X

2

)

2

/d

2

+ (X

c2

– X

2

)

2

/d

2

–1 =

d

2

/d

2

–1 = 0 (2.3.1-38)

So

r = –C

7

/C

6

(2.3.1-39)

where

C

1

= (X

c2

– X

2

)/d

C

2

= (Y

c2

– Y

2

)/d

C

3

= X

2

– X

c1

(2.3.1-40)

C

4

= Y

2

– Y

c1

C

6

= 2(C

1

C

3

+ C

2

C

4

– R

1

)

C

7

= (C

3

)

2

+ (C

4

)

2

– (R

1

)

2

Figure 2-32

1 2 ... 54 55 56 57 58 59 60 61 62 63 64 ... 71 72

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