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t11=90;
t22=216.78;
t44=109;
w2 =-9.76;
alfa2=0;
t1=t11*pi/180;
t2=t22*pi/180;
t4=t44*pi/180;
% ecuaciones obtenidas del lazo vectorial
% R=d*cos(t1)+a*cos(t2)=c*cos(t4); eje real
% I=d*sin(t1)+a*sin(t2)=c*sin(t4); eje imaginario
for i=1:1
f1=d*cos(t1)+a*cos(t2)-c*cos(t4)
f2=d*sin(t1)+a*sin(t2)-c*sin(t4)
J=[c*sin(t4) -cos(t4);
-c*cos(t4) -sin(t4)]
B=-[d*cos(t1)+a*cos(t2)-c*cos(t4);
d*sin(t1)+a*sin(t2)-c*sin(t4)]
X=J\B
vt4=X(1);
vc=X(2);
e=0.0001;
J=[c*sin(t4) -cos(t4);
-c*cos(t4) -sin(t4)]; %EL JACOBIANO
B=-[d*cos(t1)+a*cos(t2)-c*cos(t4); d*sin(t1)+a*sin(t2)-
c*sin(t4)];
X=J\B;
vt4=X(1);
vc=X(2);
end
%ecuaciones de velocidades
% f3=a*w2*sin(t2)-c*w4*sin(t4)+c'*cos(t4);
% f4=-a*w2*cos(t2)+c*w4*cos(t4)+c'*sin(t4);
Jv=[c*sin(t4) -cos(t4);-c*cos(t4) -sin(t4)];
B=[a*w2*sin(t2);-a*w2*cos(t2)];
X=Jv\B;
w4=X(1);
cc4=X(2);
figure(2)
plot(T2,W4)
grid
figure (3)
plot(T2,W4,T2,CC4,'r')
grid on
title(' Velocidad angular W4 y velocidad relativa')
xlabel('tetha 2')
ylabel(' W4 y velocidad relativa')
legend('velocidad angular W4','velocidad relativa ')
figure(4)
plot(T2,alfa4)
grid
title('alfa 4 ')
figure (5)
plot(T2,alfa4,T2,CCC4,'r')