1

23

1. 2. 3.

4. 5. 6. 7. 8. 9.

10.

1I
2
I mi ri mi i ri i
i

2
I r dm

1
I
2
I CM h m I CM I mh

2
I kgm2 Nm
rad/
1

s2 I
3 m0 T r
a
I
T m0 g m0 a a r Tr I
Tr (m0 g m0 a )r (m0 g m0 a )r
g

m0 r 2 1

a
r
4 r m
I

1 2
mr
2
5 r1 r2 m
I

1
m(r12 r2 2 )
2
6 a b c m ab
I

1
m( a 2 b 2 )
12

1
2
3
4

1
2

/ 0.015m
4

5
x-t
v-t F3
2

 v-t

623457
723456
+
1
223456
323456
423
++
1
2 0
323456
4 0.12
523456
6 0.24
723456
+
1
2
323456
43+

++
1
2
3
423456
54++

++
1 0
223456
3 0.12
423456
5 0.24
623456

2 g
I m0 r 1 a
a
I
1
kg
0.02975

m
1.25 10-2

am/s

Ikgm2

2.14

1.66388 10-5
1.70443 10-5

2.10

1.74655 10-5
1.69415 10-5

2.06
2.11

3.7926 10-5
1.41758 10-5

1.07
2.42
2.10

1.56885 10-5
1.70443 10-5

2.24

1.56885 10-5

2.24

kg
m2
1.63359 10-5

rad/

/kg

m/s2

s2

2.18

174.1

0.002835082

m2
1.62842 10-5

kg
0.04940

m
1.25 10-2

am/s2

Ikgm2

4.38

9.55151 10-6
1.80104 10-5

2.94
3.06

1.61436 10-5
1.70014 10-5

3.18

1.60686 10-5

3.17

3.10

1.77505 10-5
1.66825 10-5

3.06

1.70014 10-5

2.97

kg
m2
1.69512 10-5

rad/

/kg

m/s2

s2

3.07

245.48

0.004156657

m2
1.69324 10-5

312 1.66435 10-5kgm2

+
1
kg
0.108

m
1.25 10-2

m
0.528

m
5.5 10-2

kg
0.5671

am/s

Ikgm2

0.0137

0.012054293

0.0133

0.012417336

0.0145

0.011388297

0.0139

0.011880607

0.0140

0.011795625

0.0140

0.011795625

0.0145

0.011388297

0.0133

0.012417336

rad/

/kg

m2

m/s2

s2

m2

0.011892177

0.0139

1.112

0.013211235

0.011880607

m
5.5 10-2

kg

+
kg

2
kg
0.20885

m
1.25 10-2

m
0.528

am/s2

Ikgm2
5

0.5671


0.0246

0.012967431

0.0219

0.014570178

0.0263

0.012127122

0.0263

0.012127122

0.0256

0.012459616

0.0265

0.012035351

0.0265

0.012035351

0.0261

0.012220301

0.0266

0.011989982

0.0268

0.011900261

rad/

/kg

m2

m/s2

s2

m2

0.012443272

0.02572

2.0576

0.02551698

0.012401332

+
kg

312+ 0.012167724kg
m
1.66435 10-5kgm2
0.012167724-1.66435 10-5=0.012151081kgm2
2

1
0.5671 0.5282 (5.5 102 ) 2 0.013317824 kg
12

m2
8.76%
+
kg

kgm2

kgm2

0.012151081

0.013317824

8.76

m2

0.012167724

++
1 0
kg
0.108

m
1.25 10-2

am/s2

Ikgm2

kg
0.2785

0.0131

0.012607171

0.0128

0.012903047

0.0137

0.012054293

0.0131

0.012607171

0.0130

0.012704279

0.0124

0.013319819

0.0132

0.012511534

0.0134

0.012324543

0.0134

0.012324543

0.0136

0.012143051

++ 0.012549945kgm2
+ 0.012167724kgm2
0.012549945-0.012167724=0.000382221kg
m2
++

kgm2

kgm2

0.012549945

0.000382221

2 0.12
kg
0.108

m
1.25 10-2

am/s2

Ikgm2

0.00989

0.016704561

0.00987

0.016738444

0.01000

0.016520625

0.01000

0.016520625

0.00978

0.016892634

0.00991

0.016670814

0.01000

0.016520625

0.00992

0.016653992

0.00989

0.016704561

0.00994

0.016620449

kg
0.2785

 ++ 0.016654733kgm2
+ 0.012167724kgm2
0.016654733-0.012167724=0.004487009kg
m2
1 0

0.000382221kgm2

0.000382221 0.2785 0.122 0.004392624 kgm2
2.15%
++

kgm2
kg
2
kgm
m2
0.016654733

0.004487009

0.004392621

3 0.24
kg
0.108

m
1.25 10-2

am/s2

Ikgm2

0.00571

0.028945472

0.00589

0.028060375

0.00583

0.028349334

0.00571

0.028945472

0.00559

0.029567204

0.00587

0.028156038

0.00573

0.028844382

0.00588

0.028108125

0.00595

0.027777243

0.00588

0.028108125
8

kg
0.2785

%
2.15

++ 0.028486177kgm2
+ 0.012167724kgm2
0.028486177-0.012167724=0.016318453kg
m2
1 0

0.000382221kgm2

0.000382221 0.2785 0.242 0.016423821 kgm2
0.64%
++

kgm
kg
kgm2
m2
0.028486177

0.016318453

0.016423821

kg
0.108

m
1.25 10-2

kg

0.115

1.47965

am/s2

Ikgm2

0.0165

0.010005852

0.0172

0.009597951

0.0171

0.009654178

0.0170

0.009711066

0.0171

0.009654178
9

%
0.64

0.0171

0.009654178

0.0171

0.009654178

0.0174

0.009487435

0.0173

0.009542374

0.0170

0.009711066

+ 0.009667245kgm2
1.66435 10-5kgm2
0.009667245-1.66435 10-5=0.009650602kgm2
1
2
1.47965 0.115 0.009784186 kgm2
2
1.36%
+
kg

kgm2

kgm2

0.009650602

0.009784186

1.36

m2

0.009667245

++

kg
0.108

m
1.25 10-2

kg

0.115

1.47965

0.0532

0.0634

1.4795

am/s2

Ikgm2

0.0108

0.015295625
10

0.0112

0.01474875

0.0112

0.01474875

0.0112

0.01474875

0.0112

0.01474875

0.0112

0.01474875

0.0112

0.01474875

0.0113

0.014618081

0.0110

0.015017216

0.0112

0.01474875

++ 0.014817217kgm2
+ 0.009667245kgm2
0.014817217-0.009667245=0.005149972kgm2
1
2
2
1.47965 (0.0532 0.0634 ) 0.00506714 kgm2
2
1.63%
++
kgm2

kgm2

kgm2

0.014817217

0.005149972

0.00506714

1.63

++
1 0

kg
0.108

m
1.25 10-2

kg

0.115

1.47965

am/s

Ikgm2

0.00747

0.022121679

0.00739

0.022361339

0.00749

0.022062564

0.00760

0.021742993

0.00721

0.022920018

0.00741

0.022300939

0.00756

0.021858125

0.00751

0.022003764

0.00730

0.022637235

0.00735

0.022483125
11

++ 0.022249178kgm2
+ 0.012167724kgm2
0.022249178-0.012167724=0.010081454kgm2
0
0.009650602kgm2
4.46%
++
kgm2

kgm2

kgm2

0.022249178

0.010081454

0.009650602

4.46

2 0.12

kg
0.108

m
1.25 10-2

kg

0.115

1.47965

am/s2

Ikgm2

0.00317

0.052151895

0.00320

0.051662813

0.00310

0.053329899

0.00326

0.050711653

0.00320

0.051662813

0.00322

0.051341821

0.00315

0.052483125

0.00329

0.050249082

0.00321

0.051501817

0.00322

0.051341821

++ 0.051643674kgm2
+ 0.012167724kgm2
0.051643674-0.012167724=0.03947595kgm2
0
0.009650602kgm2
0.009650602+1.47965 0.122 0.030957562 kgm2
27.52%
++
kgm2

kgm2
12

kgm2

0.051643674

0.03947595

0.030957562

27.52

3 0.24

kg

m
1.25 10-2

0.108

kg

0.115

1.47965

am/s2

Ikgm2

0.00130

0.127194663

0.00139

0.118957945

0.00144

0.114826875

0.00151

0.109502993

0.00135

0.122483125

0.00142

0.116444393

0.00144

0.114826875

0.00139

0.118957945

0.00135

0.122483125

0.00132

0.125267216

++ 0.119094515kgm2
+ 0.012167724kgm2
0.119094515-0.012167724=0.106926791kgm2
0
0.009650602kgm2
0.009650602+1.47965 0.242 0.094878442 kgm2
12.70%
++
kgm2

kgm2

kgm2

0.119094515

0.106926791

0.094878442

12.70

kg

0.02975

0.04940

/kg
m2

1.62842 10-5

1.69324 10-5

13

 /
+

kg

0.108

0.20885

/kg
m2

0.011880607

0.012401332

/

2 0.012151081kgm2

8.76%
a b c m ab
I

1
m( a 2 b 2 )
12

3++

kgm2

kg
m2

0.12

0.004487009

0.004392621

2.15

0.24

0.016318453

0.016423821

0.64

++
m

kgm2

kgm2

0.010081454

0.009650602

4.46

0.12

0.03947595

0.030957562

27.52

0.24

0.106926791

0.094878442

12.70

I CM h
m I CM I mh 2
++

++
++
14


4+
0.009650602kgm2 1.36%
r m
I

1 2
mr
2

5++
0.005149972kgm2 1.63%

r1 r2 m
I

1
m(r12 r22 )
2

a T m0 g m0 a
a a x r x x 0 T m0 g m0 a m0 g m0 r m0 x
Tr r (m0 g m0 r m0 x ) I
m0 gr
m rx
x
g
g
m0 r 2 0 m0 r 2 1 m0 r 2

a
a
a

I 0 h
I

m0 gh

1
1
1
1
I 0 2 I 2 m0 v 2 ( I 0 I m0 r 2 ) 2
2
2
2
2

2m0 gh
2m0 gh
m gr
m0 r 2 I 0
m0 r 2 I 0 0 m0 r 2 I 0
2
2 h

f Tr fr I T

I fr
m0 g T m0 a
r

a
I fr
I fr
Ia fr 2
m0 g
m0 g r
m0 g
m0 a
r
r
r2
fr 2
g
1
a
a

I m0 r 2

15

 r m
I

1 2
mr
2

r1 r2 m
1
m(r12 r2 2 )
2
a b c m ab
I

1
m( a 2 b 2 )
12

I
2
I CM h m I CM I mh

:
2 0
2
2

Xplorer GLX
99 10 21

97

16

17