Table 6 Coordinates of nodes \(C\), \(D\), \(E\), and \(F\) in the \(\left\{ O \right\}\) coordinate system.

From: Construction and experimental verification of the spatial attitude kinematic model of advanced support equipment

Key nodes of the advanced hydraulic support

Coordinates in the \(\left\{ O \right\}\) coordinate system

\(C\)

\(( - l_{AC} \sin (\theta_{1} + \theta_{2} ) - l_{AO} \sin \theta_{1} ,l_{AC} \cos (\theta_{1} + \theta_{2} ) + l_{AO} \cos \theta_{1} ,0)\)

\(D\)

\(\begin{gathered} ( - l_{CD} \sin (\theta_{1} + \theta_{2} + \theta_{3} ) - l_{AC} \sin (\theta_{1} + \theta_{2} ) - l_{AO} \sin \theta_{1} , \hfill \\ l_{CD} \cos (\theta_{1} + \theta_{2} + \theta_{3} ) + l_{AC} \cos (\theta_{1} + \theta_{2} ) + l_{AO} \cos \theta_{1} ,0) \hfill \\ \end{gathered}\)

\(E\)

\(\begin{gathered} ( - l_{CE} \cos (\theta_{1} + \theta_{2} + \theta_{3} ) - l_{AC} \sin (\theta_{1} + \theta_{2} ) - l_{AO} \sin \theta_{1} , \hfill \\ - l_{CE} \sin (\theta_{1} + \theta_{2} + \theta_{3} ) + l_{AC} \cos (\theta_{1} + \theta_{2} ) + l_{AO} \cos \theta_{1} ,0) \hfill \\ \end{gathered}\)

\(F\)

\(\begin{gathered} ( - l_{CE} \cos (\theta_{1} + \theta_{2} + \theta_{3} ) - l_{EF} \sin (\theta_{1} + \theta_{2} + \theta_{3} ) - l_{AC} \sin (\theta_{1} + \theta_{2} ) - l_{AO} \sin \theta_{1} , \hfill \\ - l_{CE} \sin (\theta_{1} + \theta_{2} + \theta_{3} ) + l_{EF} \cos (\theta_{1} + \theta_{2} + \theta_{3} ) + l_{AC} \cos (\theta_{1} + \theta_{2} ) + l_{AO} \cos \theta_{1} ,0) \hfill \\ \end{gathered}\)

Back to article page