130
Solving Eq. (4.12) (4.14) for X,, Ym and Zm in terms of X,
Y and Z yields
X(al + bl)
Xm = -----
al + bl L
Y(al + bl) + hL
Ym = +
al + bI L
(4.15)
(4.16)
(4.17)
Zm = Z
Finally, substituting expressions (4.15) (4.17) into Eq.
(4.7) yields the equation of the external boundary of the
CRSW of the first subchain as
FEC1 = X2 + (Y + h)2 (al + bI L)2 = 0
(4.18)
where the subscript C denotes complete rotatability.
Similarly, the equations of the external boundaries of
the CRSW of the second and third subchains are found to be
as follows:
FEC2 = X2 + (-Y/2
FEC3 = X2 + (-Y/2
In fact, the SWIP
cylinder of radius (ai
cylinder of radius (ai
+ 3Z/2 + h)2 (a2 + b2 L)2 = 0
(4.19)
- /3Z/2 + h)2 (a3 + b3 L)2 = 0
(4.20)
represented by Eq. (4.3) is a
+ bi), and the CRSW is a coaxial
+ bi L). Therefore one can easily