{"id":551,"date":"2023-03-06T06:31:19","date_gmt":"2023-03-06T03:01:19","guid":{"rendered":"https:\/\/mohammadijoo.ir\/blogfa\/?p=551"},"modified":"2023-03-06T22:59:28","modified_gmt":"2023-03-06T19:29:28","slug":"%d8%af%db%8c%d9%86%d8%a7%d9%85%db%8c%da%a9-%d8%aa%d8%ad%d9%84%db%8c%d9%84%db%8c-%d8%a8%d9%87-%d8%b7%d9%88%d8%b1-%d8%ae%d9%84%d8%a7%d8%b5%d9%87","status":"publish","type":"post","link":"https:\/\/mohammadijoo.ir\/blogfa\/%d8%af%db%8c%d9%86%d8%a7%d9%85%db%8c%da%a9-%d8%aa%d8%ad%d9%84%db%8c%d9%84%db%8c-%d8%a8%d9%87-%d8%b7%d9%88%d8%b1-%d8%ae%d9%84%d8%a7%d8%b5%d9%87\/","title":{"rendered":"\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc \u0628\u0647 \u0637\u0648\u0631 \u062e\u0644\u0627\u0635\u0647"},"content":{"rendered":"\n

\u0645\u06a9\u0627\u0646\u06cc\u06a9 \u06a9\u0644\u0627\u0633\u06cc\u06a9 \u06cc\u0627 “\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u06a9\u0644\u0627\u0633\u06cc\u06a9” \u0628\u0647 \u0637\u0648\u0631 \u06a9\u0644\u06cc \u062f\u0631\u0628\u0627\u0631\u0647 \u0627\u0639\u0645\u0627\u0644 \u0642\u0648\u0627\u0646\u06cc\u0646 \u0646\u06cc\u0648\u062a\u0646 \u062f\u0631 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u0648 \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0633\u06cc\u0633\u062a\u0645 \u0627\u0633\u062a. \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0627\u0628\u062a\u062f\u0627 \u062f\u06cc\u0627\u06af\u0631\u0627\u0645 \u0628\u062f\u0646\u0647 \u0622\u0632\u0627\u062f (Free Body Diagram) \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062a\u0631\u0633\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u06cc\u062f \u0648 \u0646\u06cc\u0631\u0648\u0647\u0627 \u0631\u0627 \u0631\u0648\u06cc \u0627\u062c\u0632\u0627\u0621 \u0627\u0639\u0645\u0627\u0644 \u0645\u06cc \u06a9\u0646\u06cc\u062f \u0648 \u0633\u067e\u0633 \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0631\u0627 \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u0645\u06cc \u06a9\u0646\u06cc\u062f. \u0628\u0646\u0627\u0628\u0631\u0627\u06cc\u0646\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u06af\u0641\u062a \u06a9\u0647 “\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u06a9\u0644\u0627\u0633\u06cc\u06a9” \u06cc\u06a9 \u0631\u0648\u06cc\u06a9\u0631\u062f “\u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u0646\u06cc\u0631\u0648” \u0627\u0633\u062a.<\/p>\n\n\n\n

\u062f\u0631 \u00ab\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc\u00bb \u0627\u0632 \u0631\u0648\u06cc\u06a9\u0631\u062f \u062f\u06cc\u06af\u0631\u06cc \u0628\u0631\u0627\u06cc \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u00ab\u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a\u00bb \u06cc\u0627 \u00ab\u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645\u00bb \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645. \u062f\u0631 \u0627\u06cc\u0646 \u0631\u0648\u06cc\u06a9\u0631\u062f \u0627\u0628\u062a\u062f\u0627 \u0627\u0646\u0631\u0698\u06cc \u0633\u06cc\u0633\u062a\u0645 (\u0627\u0646\u0631\u0698\u06cc\u200c\u0647\u0627\u06cc \u062c\u0646\u0628\u0634\u06cc \u0648 \u067e\u062a\u0627\u0646\u0633\u06cc\u0644) \u0631\u0627 \u0645\u062d\u0627\u0633\u0628\u0647 \u06a9\u0631\u062f\u0647 \u0648 \u0633\u067e\u0633 \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u0631\u0627 \u0627\u0632 \u0627\u0646\u0631\u0698\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u0645\u06cc\u200c\u06a9\u0646\u06cc\u0645\u060c \u0628\u0646\u0627\u0628\u0631\u0627\u06cc\u0646\u060c “\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc” \u0631\u0648\u06cc\u06a9\u0631\u062f\u06cc “\u0645\u0628\u062a\u0646\u06cc \u0628\u0631 \u0627\u0646\u0631\u0698\u06cc” \u0627\u0633\u062a.<\/p>\n\n\n\n\n\n\n\n

\u062f\u0648 \u0631\u0648\u0634 \u0627\u0635\u0644\u06cc \u062f\u0631 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc \u00ab\u0627\u0635\u0644 \u0647\u0645\u06cc\u0644\u062a\u0648\u0646\u00bb \u0648 \u00ab\u0645\u0639\u0627\u062f\u0644\u0627\u062a \u0644\u0627\u06af\u0631\u0627\u0646\u0698\u00bb \u0647\u0633\u062a\u0646\u062f.<\/p>\n\n\n\n

\u062f\u0631 \u0631\u0648\u0634 \u0647\u0645\u06cc\u0644\u062a\u0648\u0646\u060c \u0628\u0627\u06cc\u062f \u06cc\u06a9 \u062c\u0627\u0628\u062c\u0627\u06cc\u06cc \u0645\u062c\u0627\u0632\u06cc \u0628\u0631 \u0631\u0648\u06cc \u0645\u062e\u062a\u0635\u0627\u062a \u062a\u0639\u0645\u06cc\u0645 \u06cc\u0627\u0641\u062a\u0647 \u0627\u0639\u0645\u0627\u0644 \u06a9\u0646\u06cc\u062f \u0648 \u0633\u067e\u0633 \u06a9\u0627\u0631 \u0645\u062c\u0627\u0632\u06cc \u0648 \u0627\u0646\u0631\u0698\u06cc \u0647\u0627\u06cc \u0645\u062c\u0627\u0632\u06cc \u0631\u0627 \u0645\u062d\u0627\u0633\u0628\u0647 \u06a9\u0646\u06cc\u062f. \u0633\u067e\u0633 \u0628\u0627 \u062d\u0644 \u0645\u0639\u0627\u062f\u0644\u0647 \u0632\u06cc\u0631\u060c \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u0633\u06cc\u0633\u062a\u0645 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u0628\u0647 \u062f\u0633\u062a \u0645\u06cc \u0622\u06cc\u062f:<\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ \int_{t_1}^{t_2} [\delta W_e + \delta T - \delta U] \,dt = 0 \] \"<\/p><\/p>\n\n\n\n

\u062f\u0631 \u0645\u0639\u0627\u062f\u0644\u0647 \u0641\u0648\u0642 \"\delta W_e \" \u06a9\u0627\u0631 \u0645\u062c\u0627\u0632\u06cc \u062a\u0648\u0633\u0637 \u0646\u06cc\u0631\u0648\u0647\u0627\u06cc \u062e\u0627\u0631\u062c\u06cc\u060c \"\delta T\" \u0627\u0646\u0631\u0698\u06cc \u062c\u0646\u0628\u0634\u06cc \u0645\u062c\u0627\u0632\u06cc \u0648 \"\delta U\" \u0627\u0646\u0631\u0698\u06cc \u0627\u0644\u0627\u0633\u062a\u06cc\u06a9 \u0645\u062c\u0627\u0632\u06cc \u0627\u0633\u062a. \u0628\u0631\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u067e\u0627\u06cc\u0633\u062a\u0627\u0631 (Conservative)\u060c \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u06a9\u0627\u0631 \u0645\u062c\u0627\u0632\u06cc \u062a\u0648\u0633\u0637 \u0646\u06cc\u0631\u0648\u0647\u0627\u06cc \u062e\u0627\u0631\u062c\u06cc \u0631\u0627 \u0628\u0627 \u0627\u0646\u0631\u0698\u06cc \u067e\u062a\u0627\u0646\u0633\u06cc\u0644 \u062c\u0627\u06cc\u06af\u0632\u06cc\u0646 \u06a9\u0646\u06cc\u0645 \u0648 \u0645\u0639\u0627\u062f\u0644\u0647 \u0641\u0648\u0642 \u0628\u0647 \u0635\u0648\u0631\u062a \u0632\u06cc\u0631 \u062a\u063a\u06cc\u06cc\u0631 \u0645\u06cc \u06a9\u0646\u062f \u06a9\u0647 \u0628\u0647 \u0627\u0635\u0644 \u0647\u0645\u06cc\u0644\u062a\u0648\u0646 \u0645\u0639\u0631\u0648\u0641 \u0627\u0633\u062a:<\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ \delta \int_{t_1}^{t_2} [ T - (U + V)] \,dt = 0 \] \"<\/p><\/p>\n\n\n\n

\u062f\u0631 “\u0645\u06a9\u0627\u0646\u06cc\u06a9 \u06a9\u0648\u0627\u0646\u062a\u0648\u0645\u06cc” \u0627\u0635\u0637\u0644\u0627\u062d\u06cc \u0628\u0647 \u0646\u0627\u0645 “\u0647\u0645\u06cc\u0644\u062a\u0648\u0646\u06cc\u0646” \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f \u06a9\u0647 \u0645\u062c\u0645\u0648\u0639 \u0627\u0646\u0631\u0698\u06cc \u062c\u0646\u0628\u0634\u06cc \u0648 \u067e\u062a\u0627\u0646\u0633\u06cc\u0644 \u0627\u0633\u062a \u0648 \u06af\u0627\u0647\u06cc \u0627\u0648\u0642\u0627\u062a \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u0628\u0627 “\u0627\u0635\u0644 \u0647\u0645\u06cc\u0644\u062a\u0648\u0646” \u062f\u0631 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc \u0627\u0634\u062a\u0628\u0627\u0647 \u0634\u0648\u062f. \u0639\u0645\u0644\u06af\u0631 \u0647\u0645\u06cc\u0644\u062a\u0648\u0646\u06cc\u0646 \u062f\u0631 \u0641\u06cc\u0632\u06cc\u06a9 \u06a9\u0648\u0627\u0646\u062a\u0648\u0645\u06cc \u06a9\u0647 \u062f\u0631 \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u0645\u0639\u0627\u062f\u0644\u0647 \u0634\u0631\u0648\u062f\u06cc\u0646\u06af\u0631 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f \u0628\u0647 \u0634\u0631\u062d \u0632\u06cc\u0631 \u0627\u0633\u062a:<\/p>\n\n\n\n

\" \hat{H} = \hat{T} + \hat{V} \"<\/p>\n\n\n\n

\u0631\u0648\u0634 \u062f\u0648\u0645 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc\u060c \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0644\u0627\u06af\u0631\u0627\u0646\u0698 \u0627\u0633\u062a. \u062f\u0631 \u0627\u06cc\u0646 \u0631\u0648\u0634 \u0627\u0628\u062a\u062f\u0627 \u0628\u0627\u06cc\u062f \u0627\u0646\u0631\u0698\u06cc \u0647\u0627\u06cc \u062c\u0646\u0628\u0634\u06cc \u0648 \u067e\u062a\u0627\u0646\u0633\u06cc\u0644 \u0631\u0627 \u0645\u062d\u0627\u0633\u0628\u0647 \u06a9\u0646\u06cc\u062f. \u0633\u067e\u0633 \u0644\u0627\u06af\u0631\u0627\u0646\u0698\u06cc\u0646 \u0639\u0628\u0627\u0631\u062a \u0627\u0633\u062a \u0627\u0632: L = T \u2013 V<\/p>\n\n\n\n

\u0628\u0627 \u062d\u0644 \u0645\u0639\u0627\u062f\u0644\u0647 \u0632\u06cc\u0631 \u06a9\u0647 \u0628\u0647 “\u0645\u0639\u0627\u062f\u0644\u0647 \u062d\u0631\u06a9\u062a \u0644\u0627\u06af\u0631\u0627\u0646\u0698” \u0645\u0639\u0631\u0648\u0641 \u0627\u0633\u062a\u060c \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0628\u0647 \u062f\u0633\u062a \u0645\u06cc \u0622\u06cc\u062f:<\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ {\frac{d}{dt}} ({\frac{\partial L}{\partial \dot{q_i}}}) - {\frac{\partial L}{\partial q_i}} = Q_i \] \"<\/p> <\/p>\n\n\n\n

\u062f\u0631 \u0645\u0639\u0627\u062f\u0644\u0647 \u0641\u0648\u0642\u060c L \u0644\u0627\u06af\u0631\u0627\u0646\u0698\u06cc\u0646\u060c q \u0645\u062e\u062a\u0635\u0627\u062a \u062a\u0639\u0645\u06cc\u0645 \u06cc\u0627\u0641\u062a\u0647 \u0648 Q \u0646\u06cc\u0631\u0648\u0647\u0627\u06cc \u062e\u0627\u0631\u062c\u06cc \u062a\u0639\u0645\u06cc\u0645 \u06cc\u0627\u0641\u062a\u0647 \u0627\u0639\u0645\u0627\u0644 \u0634\u062f\u0647 \u062f\u0631 \u0647\u0631 \u0645\u062e\u062a\u0635\u0627\u062a \u062a\u0639\u0645\u06cc\u0645 \u06cc\u0627\u0641\u062a\u0647 \u0627\u0633\u062a.<\/p>\n\n\n\n

\u06af\u0627\u0647\u06cc \u0627\u0648\u0642\u0627\u062a\u060c \u0642\u06cc\u062f\u0647\u0627\u06cc\u06cc \u0628\u0631 \u0631\u0648\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f \u0648 \u0634\u0645\u0627 \u0628\u0627\u06cc\u062f \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u0644\u0627\u06af\u0631\u0627\u0646\u0698 \u0631\u0627 \u0628\u0627 \u062f\u0631 \u0646\u0638\u0631 \u06af\u0631\u0641\u062a\u0646 \u0642\u06cc\u0648\u062f \u0633\u06cc\u0633\u062a\u0645 \u062d\u0644 \u06a9\u0646\u06cc\u062f.<\/p>\n\n\n\n

\u0627\u06af\u0631 \u0642\u06cc\u062f\u0647\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0641\u0642\u0637 \u062a\u0627\u0628\u0639 \u0645\u062e\u062a\u0635\u0627\u062a \u062a\u0639\u0645\u06cc\u0645\u200c\u06cc\u0627\u0641\u062a\u0647 \u0628\u0627\u0634\u062f\u060c \u0642\u06cc\u0648\u062f \u0647\u0648\u0644\u0648\u0646\u0648\u0645\u06cc\u06a9 \u0646\u0627\u0645\u06cc\u062f\u0647 \u0645\u06cc\u200c \u0634\u0648\u062f \u0648 \u0628\u0647 \u0634\u06a9\u0644 \u0632\u06cc\u0631 \u0627\u0633\u062a:<\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ f_j(t, q_1, q_2, ...., q_m) = 0 \quad \quad j = 1,2,...,r \] \"<\/p><\/p>\n\n\n\n

\u0627\u0645\u0627 \u0627\u06af\u0631 \u0642\u06cc\u062f\u0647\u0627 \u0646\u06cc\u0632 \u062a\u0627\u0628\u0639\u06cc \u0627\u0632 \u0645\u0634\u062a\u0642 \u0645\u062e\u062a\u0635\u0627\u062a \u062a\u0639\u0645\u06cc\u0645 \u06cc\u0627\u0641\u062a\u0647 \u0628\u0627\u0634\u0646\u062f\u060c \u0628\u0647 \u0622\u0646 \u0642\u06cc\u0648\u062f \u00ab\u063a\u06cc\u0631 \u0647\u0648\u0644\u0648\u0646\u0648\u0645\u06cc\u06a9\u00bb \u0645\u06cc \u06af\u0648\u06cc\u0646\u062f \u0648 \u0628\u0647 \u0634\u06a9\u0644 \u0632\u06cc\u0631 \u0627\u0633\u062a:<\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ \sum_{i=1}^{m} a_{ji} \dot{q_i} + b_j = 0 \quad \quad j = 1,2,...,r \] \"<\/p><\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ a_{ji} = a_{ji} (t,q_i) \] \"<\/p><\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ b_j = b_j(t,q_i) \] \"<\/p><\/p>\n\n\n\n

\u0628\u0627 \u0627\u06cc\u0646 \u062d\u0627\u0644\u060c \u062d\u062a\u06cc \u0627\u06af\u0631 \u0645\u062d\u062f\u0648\u062f\u06cc\u062a \u0647\u0627 \u0647\u0648\u0644\u0648\u0646\u0648\u0645\u06cc\u06a9 \u0628\u0627\u0634\u0646\u062f\u060c \u0647\u0645\u0648\u0627\u0631\u0647 \u0645\u06cc \u062a\u0648\u0627\u0646\u06cc\u0645 \u0627\u0632 \u0622\u0646\u0647\u0627 \u0645\u0634\u062a\u0642 \u06af\u0631\u0641\u062a\u0647 \u0648 \u0622\u0646\u0647\u0627 \u0631\u0627 \u0628\u0647 \u0642\u06cc\u0648\u062f \u063a\u06cc\u0631\u0647\u0648\u0644\u0648\u0646\u0648\u0645\u06cc\u06a9 \u062a\u0628\u062f\u06cc\u0644 \u06a9\u0646\u06cc\u0645. \u0645\u0639\u0627\u062f\u0644\u0647 \u0644\u0627\u06af\u0631\u0627\u0646\u0698 \u0628\u0631\u0627\u06cc \u0633\u06cc\u0633\u062a\u0645 \u0647\u0627\u06cc \u062f\u0627\u0631\u0627\u06cc \u0642\u06cc\u0648\u062f \u0628\u0647 \u0635\u0648\u0631\u062a \u0632\u06cc\u0631 \u0627\u0633\u062a:<\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ {\frac{d}{dt}} ({\frac{\partial L}{\partial \dot{q_i}}}) - {\frac{\partial L}{\partial q_i}} = Q_i + \sum_{j=1}^{r} \lambda_j a_{ji} \quad \quad j = 1,2,...,r \] \"<\/p> <\/p>\n\n\n\n

\u062f\u0631 \u0645\u0639\u0627\u062f\u0644\u0647 \u0641\u0648\u0642 \"\lambda_j\" \u0636\u0631\u0627\u06cc\u0628 \u0644\u0627\u06af\u0631\u0627\u0646\u0698 \u0647\u0633\u062a\u0646\u062f \u06a9\u0647 \u0628\u0627\u06cc\u062f \u062d\u0644 \u0648 \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u0634\u0648\u0646\u062f. 4 \u062a\u06a9\u0646\u06cc\u06a9 \u0628\u0631\u0627\u06cc \u062d\u0644 \u0645\u0639\u0627\u062f\u0644\u0647 \u0644\u0627\u06af\u0631\u0627\u0646\u0698 \u0628\u0627 \u0642\u06cc\u0648\u062f \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f. \u0627\u06cc\u0646 \u062a\u06a9\u0646\u06cc\u06a9 \u0647\u0627 \u0639\u0628\u0627\u0631\u062a\u0646\u062f \u0627\u0632: \u00ab\u0631\u0648\u0634 \u0636\u0631\u0628\u06cc \u06cc\u06a9\u067e\u0627\u0631\u0686\u0647 (Integrated Multiplier Method)\u00bb\u060c \u00ab\u0631\u0648\u0634 \u0627\u0641\u0632\u0648\u062f\u0647 \u0634\u062f\u0647 (Augmented Method)\u00bb\u060c \u00ab\u0631\u0648\u0634 \u062d\u0630\u0641\u06cc (Elimination Method)\u00bb \u0648 \u00ab\u0631\u0648\u0634 \u06af\u0631\u06cc\u0646 \u0648\u0648\u062f (Greenwood Method)\u00bb. \u062c\u0632\u0626\u06cc\u0627\u062a \u0647\u0631 \u0631\u0648\u0634 \u0631\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646 \u062f\u0631 \u0647\u0631 \u06a9\u062a\u0627\u0628 \u062f\u0631\u0633\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc \u06cc\u0627\u0641\u062a.<\/p>\n\n\n\n

\u0631\u0648\u06cc\u06a9\u0631\u062f \u062f\u06cc\u06af\u0631\u06cc \u062f\u0631 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc \u0648\u062c\u0648\u062f \u062f\u0627\u0631\u062f \u06a9\u0647 \u00ab\u06a9\u0648\u0627\u062a\u0631\u0646\u06cc\u0648\u0646\u00bb \u0646\u0627\u0645\u06cc\u062f\u0647 \u0645\u06cc \u0634\u0648\u062f. \u06a9\u0627\u0631 \u0628\u0627 \u0632\u0648\u0627\u06cc\u0627\u06cc \u0627\u0648\u06cc\u0644\u0631 \u0648 \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u0645\u0627\u062a\u0631\u06cc\u0633 \u062f\u0648\u0631\u0627\u0646\u060c \u06af\u0627\u0647\u06cc \u0627\u0648\u0642\u0627\u062a \u067e\u06cc\u0686\u06cc\u062f\u0647 \u0627\u0633\u062a \u0648 \u0645\u0645\u06a9\u0646 \u0627\u0633\u062a \u062f\u0627\u0631\u0627\u06cc \u062a\u06a9\u06cc\u0646\u06af\u06cc \u0634\u0648\u062f \u0648 \u062d\u0644 \u0639\u062f\u062f\u06cc \u0628\u0631\u0627\u06cc \u0622\u0646 \u0648\u062c\u0648\u062f \u0646\u062f\u0627\u0634\u062a\u0647 \u0628\u0627\u0634\u062f. \u0628\u0646\u0627\u0628\u0631\u0627\u06cc\u0646\u060c \u062f\u0631 \u0627\u06cc\u0646 \u0631\u0648\u06cc\u06a9\u0631\u062f\u060c \u067e\u0627\u0631\u0627\u0645\u062a\u0631 \u062f\u06cc\u06af\u0631\u06cc \u0628\u0647 3 \u0632\u0627\u0648\u06cc\u0647 \u0627\u0648\u06cc\u0644\u0631 \u0627\u0636\u0627\u0641\u0647 \u0645\u06cc \u0634\u0648\u062f \u0648 \u0627\u06cc\u0646 \u067e\u0627\u0631\u0627\u0645\u062a\u0631\u0647\u0627 \u0647\u0645\u0627\u0646\u0637\u0648\u0631 \u06a9\u0647 \u062f\u0631 \u0641\u0631\u0645\u0648\u0644 \u0632\u06cc\u0631 \u0646\u0634\u0627\u0646 \u062f\u0627\u062f\u0647 \u0634\u062f\u0647 \u0627\u0633\u062a “\u06a9\u0648\u0627\u062a\u0631\u0646\u06cc\u0648\u0646” \u0646\u0627\u0645\u06cc\u062f\u0647 \u0645\u06cc \u0634\u0648\u0646\u062f:<\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ e_0 = cos({\frac{\alpha}{2}}) \quad e_1 = cos(\gamma_1) sin({\frac{\alpha}{2}}) \] \"<\/p> <\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ e_2 = cos(\gamma_2) sin({\frac{\alpha}{2}}) \quad e_3 = cos(\gamma_3) sin({\frac{\alpha}{2}}) \] \"<\/p><\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ e_0^2 + e_1^2 + e_2^2 + e_3^2 = 1 \] \"<\/p><\/p>\n\n\n\n

\u062f\u0631 \u0645\u0639\u0627\u062f\u0644\u0647 \u0628\u0627\u0644\u0627 \"\gamma_1\" \u0648 \"\gamma_2\" \u0648 \"\gamma_3\" 3 \u0632\u0627\u0648\u06cc\u0647 \u0686\u0631\u062e\u0634 \u0627\u0635\u0644\u06cc \u062d\u0648\u0644 3 \u0645\u062d\u0648\u0631 \u0645\u062e\u062a\u0635\u0627\u062a \u0648 \"\alpha\" \u0632\u0627\u0648\u06cc\u0647 \u0686\u0631\u062e\u0634 \u062d\u0648\u0644 \u0645\u062d\u0648\u0631 \u0627\u0635\u0644\u06cc \u0627\u0633\u062a. \u0628\u0642\u06cc\u0647 \u0645\u0633\u0626\u0644\u0647 \u0645\u0627\u0646\u0646\u062f \u0642\u0628\u0644 \u0627\u0633\u062a\u060c \u062a\u0646\u0647\u0627 \u062a\u0641\u0627\u0648\u062a \u0627\u06cc\u0646 \u0627\u0633\u062a \u06a9\u0647 \u0628\u0647 \u062c\u0627\u06cc \u062f\u0627\u0634\u062a\u0646 3 \u0632\u0627\u0648\u06cc\u0647 \u0627\u0648\u06cc\u0644\u0631 (\u0648 \u0645\u0634\u062a\u0642\u0627\u062a \u0622\u0646\u0647\u0627) \u0628\u0647 \u0639\u0646\u0648\u0627\u0646 \u0645\u062e\u062a\u0635\u0627\u062a \u062a\u0639\u0645\u06cc\u0645 \u06cc\u0627\u0641\u062a\u0647 \u062f\u0631 \u0645\u0639\u0627\u062f\u0644\u0647 \u0644\u0627\u06af\u0631\u0627\u0646\u0698\u060c 4 \u06a9\u0648\u0627\u062a\u0631\u0646\u06cc\u0648\u0646 (\u0648 4 \u0645\u0634\u062a\u0642) \u0628\u0631\u0627\u06cc \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u062f\u0631 \u0645\u0639\u0627\u062f\u0644\u0647 \u0644\u0627\u06af\u0631\u0627\u0646\u0698 \u062f\u0627\u0631\u06cc\u062f \u0648 \u062f\u06cc\u06af\u0631 \u0645\u0634\u06a9\u0644\u0627\u062a \u062a\u06a9\u06cc\u0646\u06af\u06cc \u0648 … \u062f\u0631 \u062d\u0644 \u0639\u062f\u062f\u06cc \u0628\u0647 \u0648\u062c\u0648\u062f \u0646\u0645\u06cc \u0622\u06cc\u062f. \u0641\u0631\u0645\u0648\u0644 \u062a\u0628\u062f\u06cc\u0644 \u06a9\u0648\u0627\u062a\u0631\u0646\u06cc\u0648\u0646 \u0647\u0627 \u0628\u0647 \u0632\u0648\u0627\u06cc\u0627\u06cc \u0627\u0648\u06cc\u0644\u0631 \u0648 \u0628\u0627\u0644\u0639\u06a9\u0633 \u0648 \u0645\u062d\u0627\u0633\u0628\u0647 \u0645\u0634\u062a\u0642 \u06a9\u0648\u0627\u062a\u0631\u0646\u06cc\u0648\u0646 \u0647\u0627 \u0631\u0627 \u0645\u06cc \u062a\u0648\u0627\u0646 \u062f\u0631 \u06a9\u062a\u0627\u0628 \u0647\u0627\u06cc \u062f\u0631\u0633\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc \u06cc\u0627\u0641\u062a.<\/p>\n\n\n\n

\u06af\u0627\u0647\u06cc \u0627\u0648\u0642\u0627\u062a \u0647\u0646\u06af\u0627\u0645 \u062d\u0644 \u0645\u0639\u0627\u062f\u0644\u0647 \u0644\u0627\u06af\u0631\u0627\u0646\u0698 \u0648 \u0632\u0645\u0627\u0646\u06cc \u06a9\u0647 \u062a\u0639\u062f\u0627\u062f \u0645\u062e\u062a\u0635\u0627\u062a \u0632\u06cc\u0627\u062f \u0627\u0633\u062a\u060c \u0645\u06cc \u200c\u062a\u0648\u0627\u0646\u06cc\u0645 \u0628\u0631\u062e\u06cc \u0627\u0632 \u0645\u062e\u062a\u0635\u0627\u062a \u0631\u0627 \u0646\u0627\u062f\u06cc\u062f\u0647 \u0628\u06af\u06cc\u0631\u06cc\u0645\u060c \u0627\u06cc\u0646 \u0628\u0647 \u0633\u0631\u0639\u062a \u0628\u062e\u0634\u06cc\u062f\u0646 \u062f\u0631 \u0645\u062d\u0627\u0633\u0628\u0627\u062a \u06a9\u0645\u06a9 \u0645\u06cc\u200c \u06a9\u0646\u062f. \u062f\u0631 \u0648\u0627\u0642\u0639\u060c \u0645\u062e\u062a\u0635\u0627\u062a\u06cc \u06a9\u0647 \u0647\u0631 \u062f\u0648 \u0634\u0631\u0637 \u0632\u06cc\u0631 \u0631\u0627 \u0628\u0631\u0622\u0648\u0631\u062f\u0647 \u0645\u06cc \u06a9\u0646\u0646\u062f\u060c \u0645\u062e\u062a\u0635\u0627\u062a \u0642\u0627\u0628\u0644 \u0646\u0627\u062f\u06cc\u062f\u0647 \u06af\u0631\u0641\u062a\u0647 \u0634\u062f\u0646 (ignorable coordinates)\u060c \u0647\u0633\u062a\u0646\u062f:<\/p>\n\n\n\n

  <\/span>   <\/span>\" \[ {\frac{\partial L}{\partial q_i} = 0} \quad and \quad Q_i=0 \] \"<\/p><\/p>\n\n\n\n

\u0648\u0642\u062a\u06cc \u00ab\u0645\u062e\u062a\u0635\u0627\u062a \u0642\u0627\u0628\u0644 \u0646\u0627\u062f\u06cc\u062f\u0647 \u06af\u0631\u0641\u062a\u0647 \u0634\u062f\u0646\u00bb \u0631\u0627 \u067e\u06cc\u062f\u0627 \u06a9\u0631\u062f\u06cc\u0645\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646\u06cc\u0645 \u0627\u0632 \u00ab\u0631\u0648\u0634 \u0631\u0627\u062b\u00bb \u0628\u0631\u0627\u06cc \u062d\u0644 \u0645\u0639\u0627\u062f\u0644\u0647 \u0644\u0627\u06af\u0631\u0627\u0646\u0698 \u0628\u0627 \u0645\u062e\u062a\u0635\u0627\u062a \u0646\u0627\u062f\u06cc\u062f\u0647 \u06af\u0631\u0641\u062a\u0647 \u0634\u062f\u0647\u060c \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u06a9\u0646\u06cc\u0645. \u0627\u06cc\u0646 \u0631\u0648\u06cc\u06a9\u0631\u062f \u0646\u06cc\u0632 \u062f\u0631 \u0628\u0633\u06cc\u0627\u0631\u06cc \u0627\u0632 \u06a9\u062a\u0627\u0628 \u0647\u0627\u06cc \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc \u0628\u0627 \u062c\u0632\u0626\u06cc\u0627\u062a \u06cc\u0627\u0641\u062a \u0645\u06cc \u0634\u0648\u062f.<\/p>\n","protected":false},"excerpt":{"rendered":"

\u0645\u06a9\u0627\u0646\u06cc\u06a9 \u06a9\u0644\u0627\u0633\u06cc\u06a9 \u06cc\u0627 “\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u06a9\u0644\u0627\u0633\u06cc\u06a9” \u0628\u0647 \u0637\u0648\u0631 \u06a9\u0644\u06cc \u062f\u0631\u0628\u0627\u0631\u0647 \u0627\u0639\u0645\u0627\u0644 \u0642\u0648\u0627\u0646\u06cc\u0646 \u0646\u06cc\u0648\u062a\u0646 \u062f\u0631 \u06cc\u06a9 \u0633\u06cc\u0633\u062a\u0645 \u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9\u06cc \u0648 \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0633\u06cc\u0633\u062a\u0645 \u0627\u0633\u062a. \u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0627\u0628\u062a\u062f\u0627 \u062f\u06cc\u0627\u06af\u0631\u0627\u0645 \u0628\u062f\u0646\u0647 \u0622\u0632\u0627\u062f (Free Body Diagram) \u0633\u06cc\u0633\u062a\u0645 \u0631\u0627 \u062a\u0631\u0633\u06cc\u0645 \u0645\u06cc \u06a9\u0646\u06cc\u062f \u0648 \u0646\u06cc\u0631\u0648\u0647\u0627 \u0631\u0627 \u0631\u0648\u06cc \u0627\u062c\u0632\u0627\u0621 \u0627\u0639\u0645\u0627\u0644 \u0645\u06cc \u06a9\u0646\u06cc\u062f \u0648 \u0633\u067e\u0633 \u0645\u0639\u0627\u062f\u0644\u0627\u062a \u062d\u0631\u06a9\u062a \u0631\u0627 \u0627\u0633\u062a\u062e\u0631\u0627\u062c \u0645\u06cc \u06a9\u0646\u06cc\u062f. \u0628\u0646\u0627\u0628\u0631\u0627\u06cc\u0646\u060c \u0645\u06cc\u200c\u062a\u0648\u0627\u0646 \u06af\u0641\u062a \u06a9\u0647 […]<\/p>\n","protected":false},"author":1,"featured_media":554,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[2,3],"tags":[60,58,61,59],"class_list":["post-551","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-2","category-3","tag-60","tag-58","tag-61","tag-59"],"acf":[],"yoast_head":"\n\u062f\u06cc\u0646\u0627\u0645\u06cc\u06a9 \u062a\u062d\u0644\u06cc\u0644\u06cc \u0628\u0647 \u0637\u0648\u0631 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