m1 l 12 m2 l 22 m 3 l 32 l 12 l22 2

2 l3
i 11=¿
12
+
12
+
12
+m
1 4
( ) ( 2
+ m2 l 1 +l 1 l 2 C2 +
4 4 ) (
+ m3 l 1 + + 2l 1 l 2 C 2+l 1 l 3 C 23+l 2 l 3 C 3 )
m 2 l 2 2 m 3 l 32 l 1 l 2 C2 l 22 l 1 l3 C 12 2 l 32
i 21=i 12=
12
+
12
+ m2( 2
+
4 ) (
+ m3 l 1 l 2 C 2+
2
+ l 2 +l 2 l3 C 3+
4 )
m3 l32 l 1 l 3 C 23 l2 l 3 C 3 l 32
i 31=i13=
12
+m3
2 ( +
2
+
4 )
m2 l 22 m3 l 32 l 22 l 32
i 22=
12
+
12
+m2
4 ( ) ( 2
+ m3 l 2 +l 2 l 3 C3 +
4 )
m 3 l32 l2 l l C
i 23=i 32=
12 3 4
(
+m 3 + 2 3 3
2 )
m3 l 32 l 32
i 33= +m 3
12 4

l1 l2 S 2 C 1 l l C S l l S l l S C
h1 =− m2 ( 2 2 ) ( 2 ) ( 2 )
+ m3 l 1 l 2 S 2+ m3 1 3 1 2 θ̇22− m3 2 3 3 θ̇23− m3 l 2 l3 S3 +m3 1 3 2 3 θ̇3 θ̇ 2−( m2 l 1 l 2 S2 +2 m3 l 1 l 2 S 2+

l 1 l 3 C 2 S1 +1 1 l l S l l S C
(
h2 = −m3
2 2 21 2 3 ) (
2 ) ( 2 )
m l l 2 S2 +m3 l 1 l 2 S2 + m l 1 l 3 C3 S2 θ̇21 + −m3 2 3 3 θ̇23 + −m3 l 2 l 3 S 3+ m3 1 3 2 3 θ̇1 θ̇3 +−m3 l

1 1 l l S C
2 2 2(
h3 = ( m2 l 1 l 2 S 2+ 2m3 l 1 l 2 S2 +m3 l 1 l 3 C 3 S 2) θ̇12+ m3 l 2 l 3 S3 θ̇22 + −m3 1 3 2 3 +m3 l 2 l 3 S3 θ̇2 θ̇1 )
l1 l l
γ 1=m 1 g ( )
2 ( ) (
C 1 +m 2 g l 1 C 1+ 2 C 12 +m 3 g l 1 C 1+l 2 C12 + 3 C 123
2 2 )
γ 2=m2 g ( l2 C )+m g (l C + l2 C )
2
12 3 2 12
3
123

γ 3=m3 g ( l2 C )
3
123