Dynamics/Tips For Editing

Introduction

This page gives some tips on how to go about adding content to a Wikiversity page.

Adding a Figure (GIF) and a Caption

Taken from Robotic Mechanics and Modeling/Kinematics

3D animation of a three-link, serial manipulator using D-H parameters.

Adding References

If you would like to add a reference to a book, such as Applied Dynamics by Rutgers Professor Haim Baruh, you can add a reference that appears as a superscript. If you look at the source, you will see a ref name, which makes it possible to cite the reference again like this. At the bottom of this page, you will also find this command {{Reflist}} under References.

Adding Equations

Here are examples of adding equations:

${\mathsf {r}}_{P}=X_{P}{\mathsf {I}}+Y_{P}{\mathsf {J}}+Z_{P}{\mathsf {K}}$

${\mathsf {r}}_{P}=X_{P}{\mathsf {I}}+Y_{P}{\mathsf {J}}+Z_{P}{\mathsf {K}}$

The angular velocity vector ${\boldsymbol {\omega }}=(\omega _{x},\omega _{y},\omega _{z})$ defined above may be equivalently expressed as an angular velocity tensor, the matrix (or linear mapping) W = W(t) defined by:

$W={\begin{bmatrix}0&-\omega _{z}&\omega _{y}\\\omega _{z}&0&-\omega _{x}\\-\omega _{y}&\omega _{x}&0\\\end{bmatrix}}$

Adding Links to Wikipedia

Content from Kinematics and Robot kinematics

Adding Links to Wikiversity

Check out Kinematics

Adding Bulleted List

• Coordinate Systems
• Reference Frames
• Angular Velocity
• Angular Acceleration
• Rotating Frames

Adding Links to YouTube

Rotary Actuators Based on Pneumatically Driven Elastomeric Structures

Instructions on adding video

Rick Hayes talking about his use of Youtuge playlists for teaching in Community Health. Interview on Youtube and Archive.org.

Adding Hidden Code that Requires a Click to Expand

An example of how to setup a symbolic expression ${\textstyle x_{f}=x_{i}+v_{c}t+{\frac {1}{2}}a_{c}t^{2}}$ in IPython.

Code

%reset -f
from sympy import symbols
x_f,x_i,v_c,a_c,t = symbols('x_f x_i v_c a_c t')
x_f=x_i+v_c*t+1/2*a_c*t*t
x_f

Adding a Simple Quiz

The example below comes from Help:Quiz-Simple.

Type the question here...

	The correct answer.
	Wrong or misleading answer.
	Wrong or misleading answer.
	Wrong or misleading answer.

Adding a More Complex Quiz Question

The example below comes from Help:Quiz.

What's this?

	a boxer engine
	a wankel engine
	a radial engine