ecuacion

tramo 1

tramo 2

tramo 3
tramo 4
 L total

l1 1.47
beta 1 1.8399261 105.42
17.57
teta beta teta/beta elevacion
0 0 105.42 0 0
0.30665435 17.57 105.42 0.166666667 0.01104223
0.6133087 35.14 105.42 0.333333333 0.08477326
0.91996305 52.71 105.42 0.5 0.26708447
1.2266174 70.28 105.42 0.666666667 0.57477326
1.53327175 87.85 105.42 0.833333333 0.99104223
1.8399261 105.42 105.42 1 1.47

l1 1.47
l2 1.25
beta 2 0.785 45
7.5
teta beta teta/beta
1.8399261 0 45 0
1.97082579 7.5 45 0.16666667
2.10172549 15 45 0.33333333
2.23262518 22.5 45 0.5
2.36352487 30 45 0.66666667
2.49442457 37.5 45 0.83333333
2.62532426 45 45 1

l2 2.72
l3 0.28
beta 2 0.280648944 16.08
0.046774824 2.68
teta beta teta/beta
2.62532426 0 16.08 0
2.67209908 2.68 16.08 0.16666667
2.71887391 5.36 16.08 0.33333333
2.76564873 8.04 16.08 0.5
2.81242356 10.72 16.08 0.66666667
2.85919838 13.4 16.08 0.83333333
2.9059732 16.08 16.08 1
l4 3
beta 2 1.810080967 103.71
0.301680161 17.285
teta beta teta/beta
2.9059732 0 103.71 0
3.20765337 17.285 103.71 0.16666667
3.50933353 34.57 103.71 0.33333333
3.81101369 51.855 103.71 0.5
4.11269385 69.14 103.71 0.66666667
4.41437401 86.425 103.71 0.83333333
4.71605417 103.71 103.71 1

tramo 5

l4 0
beta 2 1.569923662 89.95
0.261653944 14.9916667

teta beta teta/beta

4.71605417 0 89.95 0
4.97770812 14.99166667 89.95 0.16666667
5.23936206 29.98333333 89.95 0.33333333
5.501016 44.975 89.95 0.5
5.76266995 59.96666667 89.95 0.66666667
6.02432389 74.95833333 89.95 0.83333333
6.28318531 89.95 89.95 1
 rb 5

rx ry

0 5
-1.51268713 4.77727139
-2.92667492 4.15806362
-4.19038302 3.19106078
-5.24782853 1.88106159
-5.98682475 0.22475858
-6.23709714 -1.72032534

elevacion
0 1.47 -6.23709714 -1.72032534
0.20833333 1.67833333 -6.15107571 -2.60084674
0.41666667 1.88666667 -5.93862732 -3.48695904
0.625 2.095 -5.59702989 -4.36030749
0.83333333 2.30333333 -5.12624229 -5.20195327
1.04166667 2.51166667 -4.52900574 -5.9927659
1.25 2.72 -3.81088787 -6.71383152

elevacion
0 2.72 -3.81088787 -6.71383152
0.07246933 2.79246933 -3.5255836 -6.9493049
0.14 2.86 -3.22449739 -7.16813899
0.1979899 2.9179899 -2.90709547 -7.36500916
0.24248711 2.96248711 -2.57392848 -7.53499125
0.27045923 2.99045923 -2.22658848 -7.67396524
0.28 3 -1.86756291 -7.77895936
elevacion
3 -1.86756291 -7.77895936
2.79903811 0.51483536 -7.78202672
2.25 2.60643492 -6.76527878
1.5 4.0334585 -5.09717692
0.75 4.74666938 -3.24524726
0.20096189 4.97170986 -1.52712335
0 4.99996642 0.01832592

elevacion
0 4.99996642 0.01832592
0
0
0
0
0
0 0 5
x y z
0.0000 5.0000 0.0000
-1.5127 4.7773 0.0000
-2.9267 4.1581 0.0000
-4.1904 3.1911 0.0000
-5.2478 1.8811 0.0000
-5.9868 0.2248 0.0000
-6.2371 -1.7203 0.0000
-6.1511 -2.6008 0.0000
-5.9386 -3.4870 0.0000
-5.5970 -4.3603 0.0000
-5.1262 -5.2020 0.0000
-4.5290 -5.9928 0.0000
-3.8109 -6.7138 0.0000
-3.5256 -6.9493 0.0000
-3.2245 -7.1681 0.0000
-2.9071 -7.3650 0.0000
-2.5739 -7.5350 0.0000
-2.2266 -7.6740 0.0000
-1.8676 -7.7790 0.0000
0.5148 -7.7820 0.0000
2.6064 -6.7653 0.0000
4.0335 -5.0972 0.0000
4.7467 -3.2452 0.0000
4.9717 -1.5271 0.0000
5.0000 0.0183 0.0000
4.8250 1.3111 0.0000
4.3217 2.5146 0.0000
3.5241 3.5469 0.0000
2.4866 4.3378 0.0000
1.2799 4.8334 0.0000
rx ry
0.0000 5.0000 0.0000
-1.5127 4.7773 0.0000
-2.9267 4.1581 0.0000
-4.1904 3.1911 0.0000
-5.2478 1.8811 0.0000
-5.9868 0.2248 0.0000
-6.2371 -1.7203 0.0000
-6.1511 -2.6008 0.0000
-5.9386 -3.4870 0.0000
-5.5970 -4.3603 0.0000
-5.1262 -5.2020 0.0000
-4.5290 -5.9928 0.0000
-3.8109 -6.7138 0.0000
-3.5256 -6.9493 0.0000 ry
-3.2245 -7.1681 0.0000
6.0
-2.9071 -7.3650 0.0000
-2.5739 -7.5350 0.0000 4.0
-2.2266 -7.6740 0.0000
2.0
-1.8676 -7.7790 0.0000
0.5148 -7.7820 0.0000 0.0
-8.0000 -6.0000 -4.0000 -2.0000
2.6064 -6.7653 0.0000 -2.0
4.0335 -5.0972 0.0000
4.7467 -3.2452 0.0000 -4.0
4.9717 -1.5271 0.0000 -6.0
5.0000 0.0183 0.0000
4.8250 1.3111 0.0000 -8.0

4.3217 2.5146 0.0000 -10.0

3.5241 3.5469 0.0000
2.4866 4.3378 0.0000
1.2799 4.8334 0.0000
-0.0140 5.0000 0.0000
0.0000 5.0000 0.0000
 ry
6.0000

4.0000

2.0000

0.0000
6.0000 -4.0000 -2.0000 0.0000 2.0000 4.0000 6.0000
-2.0000

-4.0000

-6.0000

-8.0000

-10.0000
rx ry
-1.31118523 4.83485591
-2.56298142 4.37782759
-3.73133399 3.66421229
-4.79103349 2.68933566
-5.67501727 1.42897622
-6.26296812 -0.11369428 ry
-6.4005709 -0.96114045
6
-6.42058184 -1.84592416
-6.31570756 -2.7513922
4
-6.08104862 -3.65964316
-5.71429791 -4.55187487
2
-5.21588824 -5.40876195
4.82504434 1.31108625 0
4.32166663 2.5145969 -8 -6 -4 -2
3.52409975 3.5469312 -2
2.48663656 4.33781496
1.27990035 4.8334103 -4
-0.01396262 4.9999805
0 5 -6
 ry
6

0
-6 -4 -2 0 2 4 6

-2

-4

-6
 tramo 1 constante elevacion l1 0
beta 1 60
numero de divisiones 6
teta 10
teta (radianes) teta
0 0
0.174532925199433 10
0.349065850398866 20
0.523598775598299 30
0.698131700797732 40
0.872664625997165 50
1.0471975511966 60
0
elevacion anterior l1

tramo 2 movimiento armonico

modificado de subida completa elevacion l2 50
beta 2 180
numero de divisiones 6
teta 30
teta (radianes) teta
1.0471975511966 0
1.5707963267949 30
2.0943951023932 60
2.61799387799149 90
3.14159265358979 120
3.66519142918809 150
4.18879020478639 180

elevacion anterior l2 50

tramo 3 movimiento armonico

modificado de retorno
completo elevacion l3 0
beta 3 120
numero de divisiones 6
teta 20
teta (radianes) teta
4.18879020478639 0
4.53785605518526 20
4.88692190558412 40
5.23598775598299 60
5.58505360638185 80
5.93411945678072 100
6.28318530717959 120
 rb 35

0 0 rx
beta teta/ beta elevacion 10 0
60 0 0 20 0 0
60 0.16666667 0 30 0 -6.07768622
60 0.33333333 0 40 0 -11.970705
60 0.5 0 50 0 -17.5
60 0.66666667 0 60 0 -22.4975663
60 0.83333333 0 90 0.22436491 -26.8115555
60 1 0 120 3.125 -30.3108891
150 12.5
180 28.125

210 43.5256351
240 50
260 43.5256351
280 28.125 rx
beta teta/ beta elevacion 300 12.5
180 0 0 320 3.125 -30.3108891
180 0.16666667 0.22436490539 340 0.22436491 -35.2243649
180 0.33333333 3.125 360 0 -33.0172185
180 0.5 12.5 -23.75
180 0.66666667 28.125 0
180 0.83333333 43.5256350946 39.2628175
180 1 50 73.6121593

rx
teta/ beta elevacion
0 50 73.6121593
0.16666667 43.5256350946 77.3326543
0.33333333 28.125 62.1659894
0.5 12.5 41.1362067
0.66666667 3.125 24.5062776
0.83333333 0.22436490539 12.0474423
1 0 0

diagrama desplazamiento seguidor

60
desplazamiento seguidor en mm

50

40

30

20

10

0
0 50 100 150 200 250 300 350 400
angulo beta
 rx ry rz
ry 0 35 0
-6.07768622 34.4682714 0
35 -11.970705 32.8892417 0
34.4682714 -17.5 30.3108891 0
32.8892417 -22.4975663 26.8115555 0
30.3108891 -26.8115555 22.4975663 0
26.8115555 -30.3108891 17.5 0
22.4975663 -35.2243649 0 0
17.5 -33.0172185 -19.0625 0
-23.75 -41.1362067 0
0 -63.125 0

39.2628175 -68.0051948 0
73.6121593 -42.5 0
77.3326543 -13.6358334 0
ry 62.1659894 10.9615412 0
41.1362067 23.75 0
17.5 24.5062776 29.2054444 0
0 12.0474423 33.1000758 0
-19.0625 0 35 0
-41.1362067
-63.125
-68.0051948
-42.5

perfil de la leva
60

40

ry 20

-42.5 0
-60 -40 -20 0 20 40 60 80 100
-13.6358334 -20
10.9615412
23.75 -40

-60

-80
 0
-60 -40 -20 0 20 40 60 80 100
-20

-40
29.2054444
-60
33.1000758
35 -80