Universidad Autónoma de Guadalajara

Analysis of mechanisms
Case of study: The crank rocker mechanism

Alumno: Sebastián Torres García

Carrera: Ing. Mecánica Eléctrica
Registro: 4735601

Zapopan, Jalisco 17 de junio de 2022

 𝜃 𝜃 𝜃
1−𝑡𝑎𝑛 2( 24) 1−𝑡𝑎𝑛 2( 24) 2𝑡𝑎𝑛( 24)
𝐾1 𝜃 − 𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3 = 𝑐𝑜𝑠𝜃2 𝜃 + 𝑠𝑖𝑛𝜃2 ( 𝜃 )
1+𝑡𝑎𝑛 2( 24) 1+𝑡𝑎𝑛 2( 24) 1+𝑡𝑎𝑛 2( 24)

𝜃 𝜃 𝜃
𝑠𝑒𝑛2 ( 24 ) 𝑠𝑒𝑛2 ( 24 ) 2𝑠𝑒𝑛 ( 24 )
1− 1− 𝜃
𝜃 𝜃
𝑐𝑜𝑠 2 ( 24 ) 𝑐𝑜𝑠 2 ( 24 ) 𝑐𝑜𝑠 ( 24 )
𝐾1 − 𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3 = 𝑐𝑜𝑠𝜃2 + 𝑠𝑖𝑛𝜃2
𝜃 𝜃 𝜃
𝑠𝑒𝑐 2 ( 4 ) 𝑠𝑒𝑐 2 ( 4 ) 𝑠𝑒𝑐 2 ( 4 )
2 2 2
( )
𝜃 𝜃 𝜃
𝑠𝑒𝑛2 ( 24 ) 𝑠𝑒𝑛2 ( 24 ) 2𝑠𝑒𝑛 ( 24 )
1− 1− 𝜃
𝜃 𝜃
𝑐𝑜𝑠 2 ( 24 ) 𝑐𝑜𝑠 2 ( 24 ) 𝑐𝑜𝑠 ( 4 )
𝐾1 − 𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3 = 𝑐𝑜𝑠𝜃2 + 𝑠𝑖𝑛𝜃2 2
1 1 1
𝜃 𝜃 𝜃
𝑐𝑜𝑠 2 ( 24 ) 𝑐𝑜𝑠 2 ( 24 ) 𝑐𝑜𝑠 2 ( 24 )
( )
𝜃 𝜃
𝑐𝑜𝑠 2 ( 24 ) − 𝑠𝑒𝑛2 ( 24 ) 𝜃4
𝐾1 𝑐𝑜𝑠 2 ( ) − 𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3
𝜃 2
𝑐𝑜𝑠 2 ( 24 )
𝜃 𝜃
𝑐𝑜𝑠 2 ( 24 ) − 𝑠𝑒𝑛2 ( 24 ) 𝜃4 𝜃4 𝜃4
= 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠 2 ( ) + 𝑠𝑖𝑛𝜃2 (2𝑠𝑒𝑛 ( ) 𝑐𝑜𝑠 ( ))
𝜃 2 2 2
𝑐𝑜𝑠 2 ( 24 )

𝜃4 𝜃4 𝜃4 𝜃4
𝐾1 𝑐𝑜𝑠 2 ( ) − 𝑠𝑒𝑛2 ( ) − 𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3 = 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠 2 ( ) − 𝑠𝑒𝑛2 ( ) + 𝑠𝑖𝑛𝜃2 (𝑠𝑖𝑛𝜃4 )
2 2 2 2
𝐾1 𝑐𝑜𝑠𝜃4 − 𝐾2 𝑐𝑜𝑠𝜃2 + 𝐾3 = 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃4 + 𝑠𝑖𝑛𝜃2 (𝑠𝑖𝑛𝜃4 )
 𝜃 𝜃 𝜃
1−𝑡𝑎𝑛 2( 23) 1−𝑡𝑎𝑛 2( 23) 2𝑡𝑎𝑛( 23)
𝐾1 𝜃 + 𝐾4 𝑐𝑜𝑠𝜃2 + 𝐾5 = 𝑐𝑜𝑠𝜃2 𝜃 + 𝑠𝑖𝑛𝜃2 ( 𝜃 )
1+𝑡𝑎𝑛 2( 23) 1+𝑡𝑎𝑛 2( 23) 1+𝑡𝑎𝑛 2( 23)

𝜃 𝜃 𝜃
𝑠𝑒𝑛2 ( 23 ) 𝑠𝑒𝑛2 ( 23 ) 2𝑠𝑒𝑛 ( 23 )
1− 1− 𝜃
𝜃 𝜃
𝑐𝑜𝑠 2 ( 23 ) 𝑐𝑜𝑠 2 ( 23 ) 𝑐𝑜𝑠 ( 23 )
𝐾1 + 𝐾4 𝑐𝑜𝑠𝜃2 + 𝐾5 = 𝑐𝑜𝑠𝜃2 + 𝑠𝑖𝑛𝜃2
𝜃 𝜃 𝜃
𝑠𝑒𝑐 2 ( 3 ) 𝑠𝑒𝑐 2 ( 3 ) 𝑠𝑒𝑐 2 ( 3 )
2 2 2
( )
𝜃 𝜃 𝜃
𝑠𝑒𝑛2 ( 23 ) 𝑠𝑒𝑛2 ( 23 ) 2𝑠𝑒𝑛 ( 23 )
1− 1− 𝜃
𝜃 𝜃
𝑐𝑜𝑠 2 ( 23 ) 𝑐𝑜𝑠 2 ( 23 ) 𝑐𝑜𝑠 ( 3 )
2
𝐾1 + 𝐾4 𝑐𝑜𝑠𝜃2 + 𝐾5 = 𝑐𝑜𝑠𝜃2 + 𝑠𝑖𝑛𝜃2
1 1 1
𝜃 𝜃 𝜃
𝑐𝑜𝑠 2 ( 23 ) 𝑐𝑜𝑠 2 ( 23 ) 𝑐𝑜𝑠 2 ( 23 )
( )
𝜃 𝜃
𝑐𝑜𝑠 2 ( 23 ) − 𝑠𝑒𝑛2 ( 23 ) 𝜃3
𝐾1 𝑐𝑜𝑠 2 ( ) + 𝐾4 𝑐𝑜𝑠𝜃2 + 𝐾5
𝜃 2
𝑐𝑜𝑠 2 ( 23 )
𝜃 𝜃
𝑐𝑜𝑠 2 ( 23 ) − 𝑠𝑒𝑛2 ( 23 ) 𝜃3 𝜃3 𝜃3
= 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠 2 ( ) + 𝑠𝑖𝑛𝜃2 (2𝑠𝑒𝑛 ( ) 𝑐𝑜𝑠 ( ))
𝜃 2 2 2
𝑐𝑜𝑠 2 ( 23 )

𝜃3 𝜃3 𝜃3 𝜃3
𝐾1 𝑐𝑜𝑠 2 ( ) − 𝑠𝑒𝑛2 ( ) + 𝐾4 𝑐𝑜𝑠𝜃2 + 𝐾5 = 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠 2 ( ) − 𝑠𝑒𝑛2 ( ) + 𝑠𝑖𝑛𝜃2 (𝑠𝑖𝑛𝜃3 )
2 2 2 2
𝐾1 𝑐𝑜𝑠𝜃3 + 𝐾4 𝑐𝑜𝑠𝜃2 + 𝐾3 = 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃3 + 𝑠𝑖𝑛𝜃2 (𝑠𝑖𝑛𝜃3 )