ANSLISIS CINEMATICO

OA 3

AC 4.5

r2 3

r3 4.5

2 15
2 45 0.785

d 1.5

r1 r3 r2 d

Given

r3 sin 3 r2 sin 2 d

r1 r3 cos 3 r2 cos 2

2.20635891548 64819825
0.93523373810 331125596

k Find 3 r1

0.55001620755
499981405
4.79265689467
42850861

3 k

0 0

0.935

r1 k
4.793
1 1

Velocidades
Given

v1 r3 sin 3 3 r2 sin 2 2

r3 cos 3 3 r2 cos 2 2

3 t 11.912
0
v 1 t 74.955
1

11.9115673164 12265554

t Find 3 v1

74.9554061999 98511293

ACELERACIONES
Given

a1 r3 sin 3 3 cos 3 3 r2 cos 2 2

r3 cos 3 3 sin 3 3 r2 sin 2 2

236.46646723856 680994

p Find 3 a 1

668.19705534694
244918

3 236.46646723856680994
236.466
a1 668.19705534694244918
668.197

vectores de posicin

r2 cos 2 2.121

ra r2 sin 2 2.121

0
0

4.79 4.79
rBA 1.5 1.5

0 0

0 0
2 0 0
2 15

0 0
2 0 0

0 0
0 0
3 0 0
3 11.912

0

0
3
0

236.46646723856680994
236.466

VELOCIDADES LINEALES

31.82
VA 2 ra 31.82

0
17.867
VBA 3 rBA 57.056

31.82
VA 31.82 45

0
13.952
VB1 VA VBA 88.876

13.952
VB 88.876 89.964

ACELERACIONES

477.297
aA 2 ra 2 ra 477.297

0
2

477.297
aceleracionA 477.297 675

324.932

2
aba 3 rBA 3 rBA 1.346 103

477.297 324.932 802.229

ab 477.297 1.346 103 868.703

0
0
0

324.932

3
aBA 1.346 103 1.385 10

802.229
3
aB 868.703 1.182 10

ANALISIS DINAMICO
Aceleraciones en Centros de masa

2 cos 3 1.187

rg3 2 sin 3 1.609

0
0

1.3cos ( 45) 0.919

rg2 1.3sin ( 45) 0.919

206.829
ag2 2 rg2 206.829

206.829
Ag2 206.829 292.5

ag2x 292.5cos ( 45) 12 2.482 10

ag3x 292.5cos 3 173.637

ag2y 292.5sin ( 45) 12 2.482 10

ag3y 292.5sin 3 235.386

aBx aB cos ( 180) 12 1.419 10

m2 20 10

0.02

FBx 70 70

m4 10
3

m3 30 10

I3 0.0037 3.7 10

1 10

0.03

I2 0.0012 1.2 10

Vectores de posicin

2 cos 3 1.187

rg3A 2 sin 3 1.609

0 0

1.3cos ( 45) 0.919

rg2 1.3sin ( 45) 0.919

r2 cos 2 2.121

ra r2 sin 2 2.121

0
0

4.79 4.79
rBA 1.5 1.5

0 0

Vectores de velocidades angulares

0 0
2 0 0
2 15

0 0
2 0 0

0 0

0 0
3 0 0
3 11.912

0
3
0

307.0243 307.024

Velocidades lineales

31.82
VA 2 ra 31.82

13.789
Vg2 2 rg2 13.789

velocidades en centros de masa en cada eslabon

Vg2x 13.789 13.789

Vg3x 50.991 50.991

ag2x 2.482 10

Vg2y 13.789 13.789

VBx 13.952 13.952

Vg3y 45.962 45.962

ag2y 2.482 10

ag3x 173.637

ag3y 235.386

Solucin Energtica
Given

FBxVBx T2 2

m2 Vg2x ag2x Vg2y ag2y m3 Vg3x ag3x Vg3y ag3y m4 VBx aBx I3 3 3

u Find T2 81.335177327363222393
81.335177327363222393
T2 u 81.335
T2 81.335