Modeling of mechatronic system

Modeling of mechatronic system.

Our system is constisting of two pulleys J1, J2 and mass m1 between them. So our system location difine three generalized coordinates (pulley 1 angle of rotation , body linear displacement and pulley 2 angle of rotation ). We need to calculate generalized coordinates and mass displacement between pulleys. However these generalized coordinates can be called moments, proportional spring elements rotations.

Here is mass motion equation using second type of Lagrange equation

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