= X
= Y + h
= Z
x2 = X
Y2 = -(1/2)Y + (J3/2)Z + h
2 = -(3/2)Y- (1/2)Z
x3 = X
y3 = -(1/2)Y (j3/2)Z + h
z3 = (J) /2)Y (1/2)Z
Thus the equations of the subworkspace can be expressed
as follows:
FEi = xi2 + y2 (ai + bi)2 0
and
Fii = xi2 + yi2 rii2 > 0
where rii2 denotes r2i2 or r3i2 (see Fig. 3.36), can be
respectively transformed to be expressed with respect to
the global OXYZ system as follows:
FEl = X2 + (Y + h)2 (aI + bl)2 < 0
(3.25)
FE2 = X2 + [-Y/2 + (43/2)Z + h]2 (a2 + b2)2 < 0
FE3 = X2 + [-Y/2 (,//2)Z + h]2 (a3 + b3)2 < 0
FI1 = X2 + (Y + h)2 rIl2 0
3.26)
3.27)
3.28)
(
(