5 Mozilla/5.0 (Windows NT 6.3; WOW64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/52.0.2743.116 Safari/537.36 /rde/contents/library/ps2img/cgi-bin/eqn2gif.cgi 157.118.205.34 1473747008 2016/09/13 15:10: 8 \tau_2 = \left(d_{2} m_{2} \sin\!\left(Q_{12}\right) + d_{3} m_{3} \sin\!\left(Q_{123}\right) + d_{4} m_{4} \sin\!\left(Q_{1234}\right) + l_{2} m_{3} \sin\!\left(Q_{12}\right) + l_{2} m_{4} \sin\!\left(Q_{12}\right) + l_{3} m_{4} \sin\!\left(Q_{123}\right)\right) \frac{\partial^2}{\partial t^2} x\!\left(t\right) - \left(I_{2} + I_{3} + I_{4} + {d_{2}}^2 m_{2} + {d_{3}}^2 m_{3} + {d_{4}}^2 m_{4} + {l_{2}}^2 m_{3} + {l_{2}}^2 m_{4} + {l_{3}}^2 m_{4} + d_{3} l_{1} m_{3} \cos\!\left(Q_{23}\right) + 2 d_{4} l_{2} m_{4} \cos\!\left(Q_{34}\right) + d_{4} l_{1} m_{4} \cos\!\left(Q_{234}\right) + l_{1} l_{3} m_{4} \cos\!\left(Q_{23}\right) + d_{2} l_{1} m_{2} \cos\!\left(q_{2}\!\left(t\right)\right) + 2 d_{3} l_{2} m_{3} \cos\!\left(q_{3}\!\left(t\right)\right) + 2 d_{4} l_{3} m_{4} \cos\!\left(q_{4}\!\left(t\right)\right) + l_{1} l_{2} m_{3} \cos\!\left(q_{2}\!\left(t\right)\right) + l_{1} l_{2} m_{4} \cos\!\left(q_{2}\!\left(t\right)\right) + 2 l_{2} l_{3} m_{4} \cos\!\left(q_{3}\!\left(t\right)\right)\right) \frac{\partial^2}{\partial t^2} q_{1}\!\left(t\right) - \left(m_{3} {d_{3}}^2 + l_{2} m_{3} \cos\!\left(q_{3}\!\left(t\right)\right) d_{3} + m_{4} {d_{4}}^2 + 2 m_{4} \cos\!\left(q_{4}\!\left(t\right)\right) d_{4} l_{3} + l_{2} m_{4} \cos\!\left(Q_{34}\right) d_{4} + m_{4} {l_{3}}^2 + l_{2} m_{4} \cos\!\left(q_{3}\!\left(t\right)\right) l_{3} + I_{3} + I_{4}\right) \frac{\partial^2}{\partial t^2} q_{3}\!\left(t\right) - \left(I_{2} + I_{3} + I_{4} + {d_{2}}^2 m_{2} + {d_{3}}^2 m_{3} + {d_{4}}^2 m_{4} + {l_{2}}^2 m_{3} + {l_{2}}^2 m_{4} + {l_{3}}^2 m_{4} + 2 d_{4} l_{2} m_{4} \cos\!\left(Q_{34}\right) + 2 d_{3} l_{2} m_{3} \cos\!\left(q_{3}\!\left(t\right)\right) + 2 d_{4} l_{3} m_{4} \cos\!\left(q_{4}\!\left(t\right)\right) + 2 l_{2} l_{3} m_{4} \cos\!\left(q_{3}\!\left(t\right)\right)\right) \frac{\partial^2}{\partial t^2} q_{2}\!\left(t\right) - \left(d_{2} m_{2} \cos\!\left(Q_{12}\right) + d_{3} m_{3} \cos\!\left(Q_{123}\right) + d_{4} m_{4} \cos\!\left(Q_{1234}\right) + l_{2} m_{3} \cos\!\left(Q_{12}\right) + l_{2} m_{4} \cos\!\left(Q_{12}\right) + l_{3} m_{4} \cos\!\left(Q_{123}\right)\right) \frac{\partial^2}{\partial t^2} z\!\left(t\right) - g \left(d_{2} m_{2} \cos\!\left(Q_{12}\right) + d_{3} m_{3} \cos\!\left(Q_{123}\right) + d_{4} m_{4} \cos\!\left(Q_{1234}\right) + l_{2} m_{3} \cos\!\left(Q_{12}\right) + l_{2} m_{4} \cos\!\left(Q_{12}\right) + l_{3} m_{4} \cos\!\left(Q_{123}\right)\right) - \left(I_{4} + {d_{4}}^2 m_{4} + d_{4} l_{2} m_{4} \cos\!\left(Q_{34}\right) + d_{4} l_{3} m_{4} \cos\!\left(q_{4}\!\left(t\right)\right)\right) \frac{\partial^2}{\partial t^2} q_{4}\!\left(t\right) - d_{2} l_{1} m_{2} \sin\!\left(q_{2}\!\left(t\right)\right) {\frac{\partial}{\partial t} q_{1}\!\left(t\right)}^2 + d_{3} l_{2} m_{3} \sin\!\left(q_{3}\!\left(t\right)\right) {\frac{\partial}{\partial t} q_{3}\!\left(t\right)}^2 + d_{4} l_{3} m_{4} \sin\!\left(q_{4}\!\left(t\right)\right) {\frac{\partial}{\partial t} q_{4}\!\left(t\right)}^2 - l_{1} l_{2} m_{3} \sin\!\left(q_{2}\!\left(t\right)\right) {\frac{\partial}{\partial t} q_{1}\!\left(t\right)}^2 - l_{1} l_{2} m_{4} \sin\!\left(q_{2}\!\left(t\right)\right) {\frac{\partial}{\partial t} q_{1}\!\left(t\right)}^2 + l_{2} l_{3} m_{4} \sin\!\left(q_{3}\!\left(t\right)\right) {\frac{\partial}{\partial t} q_{3}\!\left(t\right)}^2 - d_{3} l_{1} m_{3} \sin\!\left(Q_{23}\right) {\frac{\partial}{\partial t} q_{1}\!\left(t\right)}^2 + d_{4} l_{2} m_{4} \sin\!\left(Q_{34}\right) {\frac{\partial}{\partial t} q_{3}\!\left(t\right)}^2 + d_{4} l_{2} m_{4} \sin\!\left(Q_{34}\right) {\frac{\partial}{\partial t} q_{4}\!\left(t\right)}^2 - d_{4} l_{1} m_{4} \sin\!\left(Q_{234}\right) {\frac{\partial}{\partial t} q_{1}\!\left(t\right)}^2 - l_{1} l_{3} m_{4} \sin\!\left(Q_{23}\right) {\frac{\partial}{\partial t} q_{1}\!\left(t\right)}^2 + 2 d_{3} l_{2} m_{3} \sin\!\left(q_{3}\!\left(t\right)\right) \frac{\partial}{\partial t} q_{1}\!\left(t\right) \frac{\partial}{\partial t} q_{3}\!\left(t\right) + d_{3} l_{2} m_{3} \sin\!\left(q_{3}\!\left(t\right)\right) \frac{\partial}{\partial t} q_{3}\!\left(t\right) \frac{\partial}{\partial t} q_{2}\!\left(t\right) 2 + d_{4} l_{3} m_{4} \sin\!\left(q_{4}\!\left(t\right)\right) \frac{\partial}{\partial t} q_{4}\!\left(t\right) \frac{\partial}{\partial t} q_{1}\!\left(t\right) 2 + 2 d_{4} l_{3} m_{4} \sin\!\left(q_{4}\!\left(t\right)\right) \frac{\partial}{\partial t} q_{2}\!\left(t\right) \frac{\partial}{\partial t} q_{4}\!\left(t\right) + 2 d_{4} l_{3} m_{4} \sin\!\left(q_{4}\!\left(t\right)\right) \frac{\partial}{\partial t} q_{3}\!\left(t\right) \frac{\partial}{\partial t} q_{4}\!\left(t\right) + 2 l_{2} l_{3} m_{4} \sin\!\left(q_{3}\!\left(t\right)\right) \frac{\partial}{\partial t} q_{1}\!\left(t\right) \frac{\partial}{\partial t} q_{3}\!\left(t\right) + l_{2} l_{3} m_{4} \sin\!\left(q_{3}\!\left(t\right)\right) \frac{\partial}{\partial t} q_{3}\!\left(t\right) \frac{\partial}{\partial t} q_{2}\!\left(t\right) 2 + d_{4} l_{2} m_{4} \sin\!\left(Q_{34}\right) \frac{\partial}{\partial t} q_{3}\!\left(t\right) \frac{\partial}{\partial t} q_{1}\!\left(t\right) 2 + d_{4} l_{2} m_{4} \sin\!\left(Q_{34}\right) \frac{\partial}{\partial t} q_{4}\!\left(t\right) \frac{\partial}{\partial t} q_{1}\!\left(t\right) 2 + d_{4} l_{2} m_{4} \sin\!\left(Q_{34}\right) \frac{\partial}{\partial t} q_{3}\!\left(t\right) \frac{\partial}{\partial t} q_{2}\!\left(t\right) 2 + d_{4} l_{2} m_{4} \sin\!\left(Q_{34}\right) \frac{\partial}{\partial t} q_{4}\!\left(t\right) \frac{\partial}{\partial t} q_{2}\!\left(t\right) 2 + d_{4} l_{2} m_{4} \sin\!\left(Q_{34}\right) \frac{\partial}{\partial t} q_{4}\!\left(t\right) \frac{\partial}{\partial t} q_{3}\!\left(t\right) 2 7 変換(アンチエイリアス) <IMG SRC="../cgi-cache/20160913_150913.gif"> 変換 正常に処理されました 20160913_150913 http://www.mech.tohoku-gakuin.ac.jp/rde/contents/library/ps2img/eqn2gif_online.html Tue Sep 13 15:10:08 2016