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--- motors_init [2019/12/01 08:03] – [Mechanical Limits of the Axis Motors - Upper limit] graf
+++ motors_init [2019/12/01 08:05] – [Mechanical Limits of the Axis Motors - Upper limit] graf
@@ Line 10: / Line 10: @@
 The mechanical dimensions are given by L = 0.0175m, B = 0.015m, s = 0.004m. The upper limit can be calculated as follows:
-\\
-  //(1) tan(β) = sin(β) / cos(β) = (B - y) / L// \\
+  (1) tan(β) = sin(β) / cos(β) = (B - y) / L
-  //(2) cos(β) = s / y// \\
+  (2) cos(β) = s / y
-\\
-Substitute (2) into (1) to get: \\
+Substitute (2) into (1) to get:
-  //(3) L*sin(β)-B*cos(β)=-s// \\
+  (3) L * sin(β) - B * cos(β) = -s
-\\
 Using following trigonometric formulas in (3):
-\\ \\
-//(4) t = tan(β/2) // \\
+  (4) t = tan(β / 2)
-//(5) sin(β) = 2*tan(β/2)/(1+tan^2(β/2) // \\
+  (5) sin(β) = 2*tan(β/2)/(1+tan^2(β/2)
-//(6) sin(β) = (1-tan^2(β/2)/(1+tan^2(β/2) // \\
+  (6) sin(β) = (1-tan^2(β/2)/(1+tan^2(β/2)
-\\
 Leads to:
 \\ \\