CENTENO FLORES ABEL JOSUE

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

Raymundo Ramos Alvarado

Cinemática de Mecanismos
A11 - Simulación de mecanismo RRRT (Análisis de velocidad - Método 3)
16 junio de 2022
Codigo:
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])

%Posicion

vbx(v)=bx;
vby(v)=by;
vcx(v)=cx;

%Metodo 3_0
wz1=1;

dalpha=(1/(sqrt(1-(((l1*sin(theta))/l2)*((l1*sin(theta))/l2)))))...
*(l1/l2)*cos(theta);
wz2=dalpha;
derAlfa=(l1*cos(theta)*wz1)/(l2*cos(alpha));
vab=[l1*cos(theta) l1*sin(theta) 0];
vbc=[l2*cos(alpha) l2*sin(alpha) 0];
w1=[0 0 wz1];
w2=[0 0 derAlfa];

velba=cross(w1,vab);
velcb=cross(w2,vbc);

velbax(v)=velba(1,1);
velbay(v)=velba(1,2);
velcbx(v)=velcb(1,1)+velba(1,1);

%Metodo 3_1

DevAlpha=(l1*cos(theta)*wz1)/(l2*cos(alpha));
vBdeA=[l1*cos(theta) l1*sin(theta) 0];
Wsub1=[0 0 wz1];
vCdeB=[l2*cos(alpha) l2*sin(alpha) 0];
Wsub2=[0 0 DevAlpha];

vB=cross(Wsub1,vBdeA);
vC=cross(Wsub2,vCdeB);

velBx=vB(1,1);
velBy=vB(1,2);

velCx=[vB vC];

velbx_nom=norm(vB)*cos(theta+(pi/2));
velby_nom=norm(vB)*sin(theta+(pi/2));
velcx_nom=norm(velCx)*cos(alpha+(pi/2));

vecBx(v)=velbx_nom;
vecBy(v)=velby_nom;
vecCx(v)=velcx_nom;
end

figure (20)
hold on
plot(velbax,'-pr')
plot(vecBx,'--pc')
xlabel('Figura 20')
ylabel('Velocidad en bx')
legend('velocidad bx M3','velocidad bx M3_1','location','northeast')

figure (21)
hold on
plot(velbay,'-pr')
plot(vecBy,'--pc')
xlabel('Figura 21')
ylabel('Velocidad en by')
legend('velocidad by M3','velocidad by M3_1','location','northeast')

figure (22)
hold on
plot(velcbx,'-pr')
plot(vecCx,'--pc')
xlabel('Figura 22')
ylabel('Velocidad en cx')
legend('velocidad cx M3','velocidad cx M3_1','location','northeast')

Graficas: