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Cap 3 Ej 1 MathCAD
Cap 3 Ej 1 MathCAD
θ2 π π 0.01 π
Análisis cinemático
r2 sin θ2
θ3 θ2 asin
r3
r4 θ2 r2 cos θ2 r3 cos θ3 θ2
r2 ω2 cos θ2
ω3 θ2
r3 cos θ3 θ2
2 2
r2 ω2 sin θ2 r3 ω3 θ2 sin θ3 θ2
α3 θ2
r3 cos θ3 θ2
r 3 ω3 θ 2
2 2
r2 ω2 cos θ2 θ3 θ2
a4 θ2
cos θ3 θ2
30
20
10
180
θ3 θ2 0
π
10
20
30
200 100 0 100 200
180
θ2
π
200
300
r4 θ2
400
500
200 100 0 100 200
180
θ2
π
100
50
ω3 θ2 0
50
100
200 100 0 100 200
180
θ2
π
20000
α3 θ2 0
20000
15000000
10000000
5000000
a4 θ2
5000000
10000000
200 100 0 100 200
180
θ2
π
r
2
aG2x θ2 ω2 cos θ2
2
r
2
aG2y θ2 ω2 sin θ2
2
4000000
2000000
aG2x θ2 0
2000000
4000000
6000000
200 100 0 100 200
180
θ2
π
6000000
4000000
2000000
aG2y θ2 0
2000000
4000000
6000000
200 100 0 100 200
180
θ2
π
10000000
5000000
aG3x θ2 0
5000000
10000000
200 100 0 100 200
180
θ2
π
10000000
5000000
aG3y θ2 0
5000000
10000000
200 100 0 100 200
180
θ2
π
Análisis dinámico
1 0 1 0 0 0 0 0
0 1 0 1 0 0 0 0
0 0 r2 sin θ2 r2 cos θ2 0 0 0 1
1
G θ2
0 0 0 1 0 0 0
0 0 0 1 0 1 0 0
0 0
b sin θ3 θ2
b cos θ3 θ2
a sin θ3 θ2
a cos θ3 θ2 0 0
0 0 0 0 1 0 0 0
0 0 0 0 0 1 1 0
m2 aG2x θ2
m2 aG2y θ2
0
m a
3 G3x θ2
Fef θ2
m3 aG3y θ2
IG3 α3 θ2
m4 a 4 θ 2 P
N
0
1
F θ2 G θ2
Fef θ2
F21x θ2 F θ2 1
F21y θ2 F θ2 2
F23x θ2 F θ2 3
F23y θ2 F θ2 4
F34x θ2 F θ2 5
F34y θ2 F θ2 6
F41 θ2 F θ2 7
M21 θ2 F θ2 8
M12 θ2 M21 θ2
20000
15000
10000
5000
N
F21x θ2
5000
10000
15000
200 100 0 100 200
θ2 o
6000
4000
N
2000
F21y θ2
2000
4000
6000
200 100 0 100 200
θ2 o
1000000
500000
N
M12 θ2
500000
1000000
200 100 0 100 200
θ2 o
10000
F23x θ2
1000
10000
20000
200 100 0 100 200
180
θ2
π
3000
2000
1000
F23y θ2
0
1000
1000
2000
3000
200 100 0 100 200
180
θ2
π
5000
F34x θ2
1000
5000
10000
200 100 0 100 200
180
θ2
π
4000
2000
F34y θ2
0
1000
2000
4000
200 100 0 100 200
180
θ2
π
4000
(N)
2000
F41 θ2
0
1000
2000
4000
200 100 0 100 200
180
θ2
π
Fuerza de sacudimiento y momento de sacudimiento
Fsx θ2 F21x θ2
Fsy θ2 F41 θ2 F21y θ2
2 2
Fs θ2 Fsx θ2 Fsy θ2
Ms θ2 r4 θ2 F41 θ2 M21 θ2
20000
15000
Fs θ2 10000
1000
5000
0
200 100 0 100 200
180
θ2
π
3000000
2000000
1000000
Ms θ2
0
1000
1000000
2000000
3000000
200 100 0 100 200
180
θ2
π
6000
4000
2000
F21y θ2
0
1000
2000
4000
6000
20000 10000 0 10000 20000
F21x θ2
1000
3000
2000
1000
F23y θ2
0
1000
1000
2000
3000
20000 10000 0 10000
F23x θ2
1000
4000
2000
F34y θ2 0
1000
2000
4000
4
1 10 5000 0 5000
F34x θ2
1000
10000
5000
Fsy θ2
0
1000
5000
10000
20000 10000 0 10000 20000
Fsx θ2
1000
deg
2500 rpm 15000
s
360 deg
0.024 s
deg
15000
s