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Mecanismo 1 Análisis Cinemático Del Mecanismo: 1 2 3 CR CD
Mecanismo 1 Análisis Cinemático Del Mecanismo: 1 2 3 CR CD
MECANISMO 1
5 20 90 π 180
r1 r2 r3 fcr fcd
1000 1000 1000 180 π
70
θ2cc 0 0.001 2 π ω2 α2 0
s
Posición
r2 cos θ2cc r3 cos θ3 θ2cc r4 = 0
r2 sin θ2cc r1
θ3 θ2cc asin
r3
Velocidad
Given
r3 ω3 sin θ3 r2 ω2 sin θ2 v 4 = 0
Find v 4 ω3
r2 ω2 cos θ2cc
ω3 θ2cc
r3 cos θ3 θ2cc
Aceleración
Given
ϕ2 0 ϕ3 5 fcr 0.087
10 70
rOG2 rBG3
1000 1000
Cálculos G2
aG2x θ2cc rOG2 ω2 cos θ2cc ϕ2 rOG2 α2 sin θ2cc ϕ2
2
aG2y θ2cc rOG2 ω2 sin θ2cc ϕ2 rOG2 α2 cos θ2cc ϕ2
2
Cálculos
G3
r2 cos θ2 r3 cos θ3 rBG3 cos θ3 ϕ3
aG3x θ2cc r3 α3 θ2cc sin θ3 θ2cc rBG3 sin ϕ3 θ3 θ2cc α3 θ2cc rBG3 cos ϕ3 θ3 θ2cc ω
aG3y θ2cc rBG3 cos ϕ3 θ3 θ2cc α3 θ2cc r3 α3 θ2cc cos θ3 θ2cc rBG3 sin ϕ3 θ3 θ2cc ω
80
IG3
10000000
r21x θ2cc r2 cos θ2cc
1 0 1 0 0 0 0 0
0 1 0 1 0 0 0 0
r21y θ2cc r21x θ2cc r23y θ2cc r23x θ2cc 0 0 0 1
0 0 1 0 1 0 0 0
P θ2cc
0 0 0 1 0 1 0 0
0 0 r32y θ2cc r32x θ2cc r34y θ2cc r34x θ2cc 0 0
0 0 0 0 1 0 0 0
0 0 0 0 0 1 1 0
m2 aG2x θ2cc
m2 aG2y θ2cc
0
a θ
m3 G3x 2cc
Fef θ2cc
m3 aG3y θ2cc
IG3 α3 θ2cc
m4 a4 θ2cc
0
1
F θ2cc P θ2cc Fef θ2cc
1.5
4
1
2
0.5
F 21y θ2cc
F 21x θ2cc 0 100 200 300 400 0 100 200 300 400
2 0.5
1
4
θ2ccfcd
θ2ccfcd
3 1
2
0.5
1
F 23x θ2cc
F 23y θ2cc
0 100 200 300 400 0 100 200 300 400
1
0.5
2
3 1
θ2ccfcd θ2ccfcd
2
0.4
1 0.2
F 34x θ2cc
F 34y θ2cc
0 100 200 300 400 0 100 200 300 400
1 0.2
2 0.4
θ2ccfcd θ2ccfcd
0.02
0.4
0.01
0.2
F 41 θ2cc
M 21 θ2cc
0 100 200 300 400 0 2 4 6 8
0.2 0.01
0.4
0.02
θ2ccfcd
θ2cc
3 0.02
0.01
2
F s θ2cc
M s θ2cc 0 2 4 6 8
1 0.01
0.02
0 100 200 300 400
0.03
θ2ccfcd
θ2cc
ω3 θ2cc r3 ω3 θ2cc cos θ3 θ2cc r2 ω2 cos θ2cc
2 2 2