CENTENO FLORES ABEL JOSUE

120035360
120035360@upq.edu.mx
6To. CUATRIMESTRE
ING.MECATRONICA
M176

Raymundo Ramos Alvarado

Cinemática de Mecanismos
A9 Simulación de mecanismo RRRT

6 junio de 2022
Código:
clear
close all
clc

l1=0.1;
l2=0.15;

v=0;

for i=0:10:405

v=v+1;
theta =deg2rad(i);
alpha=asin((l1*sin(theta))/l2);

%Modelo Cinemático Directo

ax=0;
ay=0;
bx=ax+l1*cos(theta);
by=ay+l1*sin(theta);
cx=bx+l2*cos(alpha);
cy=0;

figure(1)
plot([ax,bx],[ay,by],'-b',...
[bx,cx],[by,cy],'-b',...
ax,ay,'og',...
bx,by,'og',...
cx,cy,'og',...
[(cx-0.01),(cx+0.01)],[(cy-0.01),(cy-0.01)],'-r',...
[(cx+0.01),(cx+0.01)],[(cy-0.01),(cy+0.01)],'-r',...
[(cx+0.01),(cx-0.01)],[(cy+0.01),(cy+0.01)],'-r',...
[(cx-0.01),(cx-0.01)],[(cy+0.01),(cy-0.01)],'-r')

text((ax+0.01),(ay+0.01),'A')
text((bx+0.01),(by+0.01),'B')
text((cx+0.01),(cy+0.01),'C')

grid on
grid minor
xlabel('X(m)')
ylabel('Y(m)')
title('Mecanismo RRRT')

axis([-0.25 0.25 -0.25 0.25])

%Velocidad (aproximación)

vbx(v)=bx;
vby(v)=by;
vcx(v)=cx;
 dbx=diff(vbx/0.01);
dby=diff(vby/0.01);
dcx=diff(vcx/0.01);

ddbx=diff(dbx/0.01);
ddby=diff(dby/0.01);
ddcx=diff(dcx/0.01);

end

figure(2)
plot(vbx,'-b')
grid on
xlabel('figure(2)')
ylabel('Posicion bx')
legend('Posicion bx','location','northeast')

figure(3)
plot(vby,'-g')
grid on
xlabel('figure(3)')
ylabel('Posicion by')
legend('Posicion by','location','northeast')

figure(4)
plot(vcx,'-c')
grid on
xlabel('figure(4)')
ylabel('Posicion cx')
legend('Posicion cx','location','northeast')

figure(5)
plot(dbx,'-b')
grid on
xlabel('figure(5)')
ylabel('Velocidad bx')
legend('Velocidad bx','location','northeast')

figure(6)
plot(dby,'-g')
grid on
xlabel('figure(6)')
ylabel('Velocidad by')
legend('Velocidad by','location','northeast')

figure(7)
plot(dcx,'-c')
grid on
xlabel('figure(7)')
ylabel('Velocidad cx')
legend('Velocidad cx','location','northeast')

figure(8)
plot(ddbx,'-k')
grid on
xlabel('figure(8)')
ylabel('Aceleracion bx')
legend('Aceleracion bx','location','northeast')

figure(9)
plot(ddby,'-g')
grid on
xlabel('figure(9)')
ylabel('Aceleracion by')
legend('Aceleracion by','location','northeast')

figure(10)
plot(ddcx,'-c')
grid on
xlabel('figure(10)')
ylabel('Aceleracion cx')
legend('Aceleracion cx','location','northeast')

Graficas: