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

γ 1=m 1 g ( l2 C )+m g (l C + l2 C )+m g( l C +l C + l2 C )

1
1 2 1 1
2
12 3 1 1 2 12
3
123

l2 l
γ 2=m2 g ( )
2 (
C 12 +m3 g l 2 C 12+ 3 C 123
2 )
l3
γ 3=m3 g ( C
2 123 )