Matrices de rotación

1 0 0

[
R x ,φ = 0 cos φ −sin φ
0 sin φ cos φ ]
cos θ 0 sin θ
R y , θ=
[ 0 1 0
−sin φ 0 cos θ ]
cos ψ −sin ψ 0

[
R z ,ψ = sin ψ cos ψ
0 0
0
1 ]
cψcθ cψsθsφ−sψcφ cψsθcφ+ sψsφ
N
❑
−sθ[
R A =R z ,ψ R y ,θ Rx , φ = sψcθ sψsθsφ+cψcφ sψsθcφ−cψsφ
cθsφ cθcφ ]

Velocidad del punto D

C
❑ω D =q̇ 2 c^ 1
B
❑ω C =q̇ 1 b^ 1
A B
❑ω =0
N
❑ω A =θ̇ n^ 1+ φ̇ n^ 2 + ψ̇ n^ 3

N C N A A B B C
❑ω =❑ω + ❑ω + ❑ω

N
❑ω C =θ̇ n^ 1 + φ̇ n^ 2+ ψ̇ n^ 3 + q̇1 b^ 1

C
❑ P D=−1.5 c^ 1−22.3 c^ 2 +12.5 c^ 3
0
N
dP ❑C dP N C C D
❑
= + ω × ❑P
dt dt ❑

N
dP
❑
=( θ̇ n^ 1 + φ̇ n^ 2+ ψ̇ n^ 3 + q̇1 b^ 1 ) ×(−1.5 c^ 1−22.3 c^ 2+12.5 c^ 3 )
dt

Velocidad del punto C

B
❑Q C =41.56 b^ 1 −16.25 b^ 2

A B
❑ω =0
N
❑ω A =θ̇ n^ 1+ φ̇ n^ 2 + ψ̇ n^ 3

N C N A A B
❑ω =❑ω + ❑ω

N
❑ω D =θ̇ n^ 1 + φ̇ n^ 2+ ψ̇ n^ 3

0
N B
dP dP N B B C
❑
= + ω × ❑Q
❑
dt dt ❑

N
dQ
❑
=( θ̇ n^ 1+ φ̇ n^ 2 + ψ̇ n^ 3 ) ×( 41.56 b^ 1−16.25 b^ 2)
dt

Velocidad del punto B

A B
❑ S =18.55 a^ 1 +0.99 a^ 2−86.97 a^ 3

A B
❑ S =18.55 a^ 1 +0.99 a^ 2−86.97 a^ 3

N
❑ω A =θ̇ n^ 1+ φ̇ n^ 2 + ψ̇ n^ 3
 0
N A
dS dP N A A B
❑
= + ω × ❑S
❑
dt dt ❑

N
dP
❑
=( θ̇ n^ 1 + φ̇ n^ 2+ ψ̇ n^ 3 ) ×(18.55 a^ 1 +0.99 a^ 2−86.97 a^ 3 )
dt

cψcθ cψsθsφ−sψcφ cψsθcφ+ sψsφ

N
❑
A

[
R = sψcθ sψsθsφ +cψcφ sψsθcφ−cψsφ
−sθ cθsφ cθcφ ]
a^ 1=cψcθ n^ 1 + sψcθ n^ 2−sθ n^ 3

a^ 2=( cψsθsφ−sψcφ ) n^ 1+ ( sψsθsφ+ cψcφ ) n^ 2 +cθsφ n^ 3

a^ 3=( cψsθcφ+ sψsφ ) n^ 1 + ( sψsθcφ−cψsφ ) n^ 2 +cθcφ n^ 3

N
dP
❑
=( θ̇ n^ 1 + φ̇ n^ 2+ ψ̇ n^ 3 ) ×(18.55 ( cψcθ n^ 1 + sψcθ n^ 2−sθ n^ 3 )+ 0.99 ( ( cψsθsφ−sψcφ ) n^ 1+ ( sψsθsφ+ cψcφ ) n^ 2 +cθsφ n^ 3
dt

Velocidad del punto A

N A
❑ S =18.55 a^ 1 +0.99 a^ 2 −86.97 a^ 3

0
N A
dS dS N A A B
❑
= + ω × ❑S
❑
dt dt ❑

N
dP
❑
=( θ̇ n^ 1 + φ̇ n^ 2+ ψ̇ n^ 3 ) ×(18.55 a^ 1 +0.99 a^ 2−86.97 a^ 3 )
dt