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2
Wy S3 k ( )   0.5 l 3 sin 3k()     3k()  0.5 l 3 cos 3k()    3k()
2
2
Wx ()  l   3 cos 3k()    3k()  l  3 sin 3k()    3k()  0.5 l 4 cos 4k()    4k()  0.5 l 4 sin 4k()     4k()
k
S4
2
2
Wy S4 k ()  l   3 sin 3k()    3k()  l  3 cos 3k()    3k()  0.5 l 4 sin 4k()     4k()  0.5 l 4 cos 4k()    4k()
2 2 2 2
W S3 k ()  Wx ()  Wy S3 k () W S4 k ()  Wx ()  Wy S4 k ()
k
k
S3
S4
Результати виконання програми
3k() 4k()
k  deg  deg   3k()   4k()   3k()   4k() 
0 107.458 156.162 3.268·10 -5 -2.756·10 -5 -70.76 59.677
1 105.373 157.808 -1.907 1.404 -40.265 19.1
2 100.413 160.849 -2.937 1.445 -20.231 -13.864
3 94.003 163.023 -3.394 0.637 -6.668 -29.775
4 87.115 163.204 -3.427 -0.463 4.75 -30.929
5 80.568 161.308 -3.045 -1.355 17.694 -17.583
6 75.289 158.284 -2.126 -1.494 36.329 12.546
7 72.607 156.216 -0.388 -0.326 65.1 54.232
8 74.503 157.716 2.473 1.837 96.642 53.995
9 82.814 162.187 5.685 1.921 68.774 -64.551
10 95.263 162.749 6.033 -1.49 -52.445 -85.328
11 104.595 158.365 3.034 -2.115 -98.928 42.553
12 107.458 156.162 3.268·10 -5 -2.756·10 -5 -70.76 59.677
k  VD k()  WD k()  V ()  V ()  W S3 k ()  W S4 k () 
k
k
S3
S4
0 -2.416·10 -5 52.309 1.47·10 -5 2.647·10 -5 31.842 57.331
1 1.469 33.924 0.858 1.579 18.193 35.015
2 2.434 21.593 1.322 2.528 9.897 20.567
3 2.982 9.89 1.527 3.017 5.991 9.671
4 3.127 -1.602 1.542 3.105 5.701 6.082
5 2.856 -14.496 1.37 2.789 8.989 16.035
6 2.044 -33.556 0.957 1.963 16.474 33.179
7 0.38 -63.572 0.175 0.36 29.295 60.391
8 -2.389 -91.36 1.113 2.286 43.576 88.777
9 -5.282 -56.908 2.558 5.189 34.195 61.886
10 -5.252 59.606 2.715 5.335 28.727 56.602
11 -2.369 84.212 1.365 2.529 44.71 86.532
12 -2.416·10 -5 52.309 1.47·10 -5 2.647·10 -5 31.842 57.331

Векторний метод
Векторні рівняння (2.50) перепишемо у такому вигляді
e S  l e  l e ,
S 0 0 1 1 (2.57)
l 3 e  l 4 e  l 0 e  e a a  x D e D ,
0
3
4
cos  1  cos  3      0  cos  3  cos  4    1







де e 1  sin  1  ,e S  sin  3  ,e 0  1 ,e 3  sin  3  ,e 4  sin  4  , e D      0 .






           0 
 0   0   0   0   0   
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