DINAMICA DE MAQUINAS-INGENIERIA MECANICA

ESTUDIANTE: CCARITA QQUESHUALLPA,Nicanor

CODIGO: 124154

Configuracion del mecanismo

F3
r4

T4

%TAREA DINAMICA DE MAQUINAS 14/12/2016

clc,clear
clear%fuerza en el eslabon 3
AM=[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0];
chi=0;
a=0.3250; %longitud del eslabn L1(1.5)
b=1.5; %longitud del eslabn L2(3)
c=0.5; %longitud del eslabn L3 dato(3)
d=1.4; %longitud del eslabon bancada (1)
r1=a/2;%sirven para hallar los centros de gravedad
r2=0;% cg en 2
r3=0.75*cos(10.*pi/180);% cg en 3
r4=0.75*sin(10.*pi/180);% cg en 3
r5=c/2;%en la misma barra 4
r6=0;
m2=3.4328*10^-5;%blobs
m3=1.8844*10^-4;%blobs
m4=5.2813*10^-5;%blobs
Ig2=0.05;%lb-pulg-s2
Ig3=0.55;%lb-pulg-s2
Ig4=1.25;%lb-pulg-s2
t1=0;
t2=0.*pi/180;%empezamos de cero para que el programa corra desde cero
t3=11.*pi/180; %arbitrariio
t4=38.*pi/180;
w2=15.7080;% velocidad angular en el eslabon 2 DATO
alfa2=0;%aceleracin angular del eslabn 2 dato
F3=8.32; %carga puntual en el eslabon 3
for i=1:73
f1=a.*cos(t2)+b.*cos(t3)-c.*cos(t4)-d; %funciones de generacion=0
f2=a.*sin(t2)+b.*sin(t3)-c.*sin(t4); %funciones de generacion=0
A=[-b.*sin(t3) c.*sin(t4);b.*cos(t3) -c.*cos(t4)]; %EL JACOBIANO
B=-[a.*cos(t2)+b.*cos(t3)-c.*cos(t4)-d; a.*sin(t2)+b.*sin(t3)-c.*sin(t4)];
X=A\B;
vt3=X(1);
vt4=X(2);
e=0.00001;
while abs(vt3)>e & abs(vt4)>e
t3=t3+vt3;
t4=t4+vt4;

T2

r1

T4

T2

T2

r1

r2

r5

r3

r6

T3

r5

T3

r3

r4

f1=a.*cos(t2)+b.*cos(t3)-c.*cos(t4)-d;
f2=a.*sin(t2)+b.*sin(t3)-c.*sin(t4);
A=[-b.*sin(t3) c.*sin(t4);b.*cos(t3) -c.*cos(t4)]; %EL JACOBIANO
B=-[a.*cos(t2)+b.*cos(t3)-c.*cos(t4)-d;
a.*sin(t2)+b.*sin(t3)-c.*sin(t4)];
X=A\B;
vt3=X(1);
vt4=X(2);
end
Jv=[-b*sin(t3) c*sin(t4);b*cos(t3) -c*cos(t4)];
B=[a*w2*sin(t2);-a*w2*cos(t2)];
X=Jv\B;
w3=X(1);
w4=X(2);
Ja=[-b*sin(t3) c*sin(t4);b*cos(t3) -c*cos(t4)];
acel=[a*alfa2*sin(t2)+a*w2^2*cos(t2)+b*w3^2*cos(t3)-c*w4^2*cos(t4);
-a*alfa2*cos(t2)+a*w2^2*sin(t2)+b*w3^2*sin(t3)-c*w4^2*sin(t4)];
Y=Ja\acel;
alfa3=Y(1);
alfa4=Y(2);
%TRAYECTORIA DE Cg
rcx2=+r1*cos(t2)+r2*cos(t2+pi/2);
rcy2=+r1*sin(t2)+r2*sin(t2+pi/2);
rc2=sqrt((rcx2).^2+(rcy2).^2);
rcx3=a*cos(t2)+r3*cos(t3)+r4*cos(t3+pi/2);
rcy3=a*sin(t2)+r3*sin(t3)+r4*sin(t3+pi/2);
rc3=sqrt((rcx3).^2+(rcy3).^2);
rcx4=d*cos(t1)+r5*cos(t4)+r6*cos(t4-pi/2);%MODIF
rcy4=d*sin(t1)+r5*sin(t4)+r6*sin(t4-pi/2);%MODIF
rc4=sqrt((rcx4).^2+(rcy4).^2);
%VELOCIDAD DE Cg3
vcx=-a*w2*sin(t2)-r3*w3*sin(t3)-r4*w3*cos(t3);
vcy=a*w2*cos(t2)+r3*w3*cos(t3)-r4*w3*sin(t3);
VCC=sqrt(vcx.^2+vcy.^2);
%ACELERACIONES DE Cg2
acx2=-(r1*alfa2-r2*w2*w2)*sin(t2)-(r2*alfa2+r1*w2*w2)*cos(t2);
acy2=(r1*alfa2-r2*w2*w2)*cos(t2)-(r2*alfa2+r1*w2*w2)*sin(t2);
ACC2=(sqrt(acx2.^2+acy2.^2));%total
%ACELERACIONES Ag4
acx4=-(r5*alfa4+r6*w4*w4)*sin(t4)-(-r6*alfa4+r5*w4*w4)*cos(t4);%OJO
acy4=(r5*alfa4+r6*w4*w4)*cos(t4)-(-r6*alfa4+r5*w4*w4)*sin(t4);%OJO
ACC4=(sqrt(acx4.^2+acy4.^2));%total
%ACELERACIONES DE Cg3
acx3=-a*alfa2*sin(t2)-a*w2*w2*cos(t2)-(r3*alfa3-r4*w3*w3)*sin(t3)(r4*alfa3+r3*w3*w3)*cos(t3);
acy3=a*alfa2*cos(t2)-a*w2*w2*sin(t2)+(r3*alfa3-r4*w3*w3)*cos(t3)(r4*alfa3+r3*w3*w3)*sin(t3);
ACC3=(sqrt(acx3.^2+acy3.^2));%total
m2ag2x=m2*acx2;
m2ag2y=m2*acy2;
m3ag3x=m3*acx3;
m3ag3y=m3*acy3;
m4ag4x=m4*acx4;

m4ag4y=m4*acy4;
FO2=m2*ACC2;%fuerza inercial total
FO3=m3*ACC3;%fuerza inercial total
FO4=m4*ACC4;%fuerza inercial total
TO2=Ig2*alfa2;
TO3=Ig3*alfa3;
TO4=Ig4*alfa4;
%LOS SIGUIENTES DATOS SE ANALIZA UNO POR UNO
q2x=-r1*cos(t2)-r2*cos(t2+pi/2);
q2y=-r1*sin(t2)-r2*sin(t2+pi/2);
p2x=(a-r1)*cos(t2)-r2*cos(t2+pi/2);
p2y=(a-r1)*sin(t2)-r2*sin(t2+pi/2);
q3x=-r3*cos(t3)-r4*cos(t3+pi/2);
q3y=-r3*sin(t3)-r4*sin(t3+pi/2);
p3x=(b-r3)*cos(t3)-r4*cos(t3+pi/2);%ojo el cg est a la mitad del eslabon
p3y=(b-r3)*sin(t3)-r4*sin(t3+pi/2);
q4x=-r5*cos(t4+pi)-r6*cos(t4-pi/2);
q4y=-r5*sin(t4+pi)-r6*sin(t4-pi/2);
p4x=(r5-c)*cos(t4)-r6*cos(t4-pi/2);
p4y=(r5-c)*sin(t4)-r6*sin(t4-pi/2);
To2=0;
To3=0;
To4=0;
F2=0;
F2x=0;
F2y=0;
F3=-8.32; %lb
F3x=0;
F3y=8.32;%en todo instante en 90
F4=0;
F4x=0;
F4y=0;
Fp4=0;%Fp4 aplicado al 4 perpendicular en todo instante
Fp4x=Fp4*cos(t4+pi/2);
Fp4y=Fp4*sin(t4+pi/2);
Rfp4=0;%DATO DEL PROBLEMA DISTANCIA DEL CG4 AL PUNTO DE APLICACIN DE Fp
Rp4x=(Rfp4)*cos(t4);
Rp4y=(Rfp4)*sin(t4);
mu=0;
MM=[-1 0 1 0 0 0 0 0 0;
0 -1 0 1 0 0 0 0 0;
q2y -q2x -p2y p2x 0 0 0 0 1;
0 0 -1 0 1 0 0 0 0;
0 0 0 -1 0 1 0 0 0;
0 0 q3y -q3x -p3y p3x 0 0 0;
0 0 0 0 -1 0 1 0 0;
0 0 0 0 0 -1 0 1 0;
0 0 0 0 q4y -q4x -p4y p4x 0];
NN=[m2ag2x-F2x;
m2ag2y-F2y;
Ig2*alfa2-To2;
m3ag3x-F3x;
m3ag3y-F3y;
Ig3*alfa3-To3;
m4ag4x-Fp4x-F4x;
m4ag4y-Fp4y-F4y;
Ig4*alfa4-To4-Rp4x*Fp4y+Rp4y*Fp4x];
FFF=MM\NN;
F21x=FFF(1);
F21y=FFF(2);

F21=sqrt(F21x^2+F21y^2);% la resulatante de las reacciones

F32x=FFF(3);
F32y=FFF(4);
F32=sqrt(F32x^2+F32y^2);% la resulatante de las reacciones
F43x=FFF(5);
F43y=FFF(6);
F43=sqrt(F43x^2+F43y^2);% la resulatante de las reacciones
F14x=FFF(7);
F14y=FFF(8);
F14=sqrt(F14x^2+F14y^2);% la resulatante de las reacciones
TO=FFF(9);
FFS=(m2*ACC2+m3*ACC3+m4*ACC4);
%fuerzas de sacudimiento otrepitacion Fs=F21-F14
Fsx=((F21x)-(F14x));
Fsy=(F21y)-(F14y);
Fs=sqrt(Fsx^2+Fsy^2);
Ts=-TO;%torque de sacudimiento................................................

M1=[t2*180/pi,F21x,F21y,F21,F32x,F32y,F32,F43x,F43y,F43,F14x,F14y,F14,Fsx,Fsy,Fs,T
O,Ts,t2];

if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t2=t2+5*pi/180;
end
fi3=0*pi/180;
mb2x=m3*((r3*(a/b)*cos(fi3))-a);
mb2y=m3*(r3*(a/b)*sin(fi3));
mb4x=-m3*r3*(c/b)*cos(fi3);
mb4y=-m3*r3*(c/b)*sin(fi3);
R2x=rcx2*m2;
R2y=rcy2*m2;
R3x=rcx3*m3;
R3y=rcy3*m3;
R4x=rcx4*m4;
R4y=rcy4*m4;
mbf2x=R2x-mb2x;
mbf2y=R2y-mb2y;
mbf4x=R4x-mb4x;
mbf4y=R4y-mb4y;
tetaa2=atand(mbf2y/mbf2x)+180%%%%%%
OK
tetaa4=atand(mbf4y/mbf4x)+180%%%%%%% OK
mbRb2=sqrt(mb2x^2+mb2y^2)%%%%
%%%%%%%%%%%%%%%FOURBAR OKKK
mbRb4=sqrt(mb4x^2+mb4y^2)%%%%%%%%
%%%%%%%%%%%FOURBAR
rb2=3;%radio de la masa balanceada 2
Mb2=mbRb2/rb2%masa de balance 2.%%%%%%
.%%%%%%%%%%%fourbar
rb4=6;%radio de la masa balanceada 4
Mb4=mbRb4/rb4%masa de balance 4..%%%%%%%%% %%%%%%%%FOURBAR

disp ('
t2*180/pi
F21x
F21y
F14y F14 Fsx Fsy Fs Ts TO
disp (AM)
T2=AM(:,1);
F21x=AM(:,2);
F21y=AM(:,3);
F21=AM(:,4);
F32x=AM(:,5);

F21 F32x
t2')

F32y

F32

F43x

F43y

F43

F14x

F32y=AM(:,6);
F32=AM(:,7);
F43x=AM(:,8);
F43y=AM(:,9);
F43=AM(:,10);
F14x=AM(:,11);
F14y=AM(:,12);
F14=AM(:,13);
Fsx=AM(:,14);
Fsy=AM(:,15);
Fs=AM(:,16);
Ts=AM(:,17);
TO=AM(:,18);
t2=AM(:,19);
disp(TO)
figure(1)
plot(T2,-F21x,T2,-F21y,'g')
title('F12x y F12y en funcion de tetha2')
xlabel('tetha2 en grados')
ylabel('F12x y F12y')
grid
figure(2)
plot(-F21x,-F21y)
title('F12y en funcion de F12x ')
xlabel('F12x')
ylabel('F12y')
grid
figure (3)
plot(T2,F32x,T2,F32y,'g')
title('F32x y F32y en funcion de tetha2')
xlabel('tetha2 en grados')
ylabel('F32x y F32y')
grid
figure(4)
plot(T2,F43x,T2,F43y)
title('F43x y F43y en funcion de tetha2')
xlabel('tetha2 en grados')
ylabel('F43x y F43y')
grid
figure (5)
plot(T2,F14x,T2,F14y)
title('F14x y F14y en funcion de tetha2')
xlabel('tetha2 en grados')
ylabel('F14x y F14y')
grid
figure (6)
plot(F14x,F14y,'r')
title('F14y en funcion de F14x ')
xlabel('F14x')
ylabel('F14y')
grid
figure (7)
plot(T2,Fsx);
title('Fsx en funcion de tetha2')
xlabel('tetha2')
ylabel('Fsx')
grid
figure (8)
plot(T2,Fsy,'x')
title('Fsy en funcion de tetha2')
xlabel('tetha2')
ylabel('Fsy')
grid
figure (9)
plot(T2,Fs,'r')
title('Fs en funcion de tetha2')

xlabel('tetha2')
ylabel('Fs')
grid
figure(10)
plot(Fsx,Fsy)
title('Fsy en funcion de Fsx')
xlabel('Fsx')
ylabel('Fsy')
grid
figure(11)
plot(T2,TO,T2,Ts,'r')
title('TO y Ts en funcion de tetha2')
xlabel('tetha2 en grados')
ylabel('TO y Ts')
grid
figure (12)
plot(T2,Ts,'k')
title('Ts en funcion de tetha2')
xlabel('tetha2')
ylabel('Ts')
grid
figure(13)
plot(T2,F21,'g',T2,F32,'r',T2,F43,'k',T2,F14)
title('F21,F32,F43 y F14 en funcion de tetha2')
xlabel('tetha2 en grados')
ylabel('F21,F32,F43 y F14')
grid
disp (Fs)

Resultados
tetaa2 =
1.799999999999999e+02
tetaa4 =
1.835774879090732e+02
mbRb2 =
3.108670939113667e-05
mbRb4 =
4.639429324440511e-05
Mb2 =
1.036223646371223e-05
Mb4 =
7.732382207400852e-06

t2*180/pi

F21x (10^3lb)

F21y(10^2lb)

F21(10^3lb)

F32x(10^3lb)

F32y(10^2lb)

F32(10^3lb)

F43x(10^3lb)

F43y(10^2lb)

F43(10^3lb)

F14x(10^3lb)

F14y (10^2lb)

F14(10^3lb)

Fsx

Fsy

Fs

Ts*10^2

TO*10^2

2.614490577

6.018013477

2.682857774

2.6144892

6.018013477

2.682856433

2.614464631

5.934963254

2.68098176

2.614460632

5.935009197

2.680978877

0.029944827

8.300427995

8.300482009

-1.95585438

1.95585438

2.578124092

5.309395636

2.632227318

2.578122721

5.309394436

2.632225951

2.578099072

5.22634527

2.630540186

2.578095388

5.226392874

2.630537522

0.028704092

8.300276176

8.300325808

-0.988717789

0.988717789

10

2.311923945

4.306381426

2.351689082

2.311922589

4.306379036

2.351687705

2.311900404

4.223313707

2.350158987

2.311897086

4.223357997

2.350156519

0.02685934

8.302342975

8.302386422

-0.073561805

0.073561805

15

1.920779755

3.285738669

1.94868049

1.920778425

3.285735106

1.94867912

1.920757915

3.20264201

1.947275052

1.920754948

3.202679708

1.947272745

0.024806497

8.305896039

8.305933083

0.584208294

-0.584208294

20

1.510209038

2.41569738

1.529407492

1.510207744

2.415692673

1.52940614

1.510188897

2.332566744

1.528096587

1.510186236

2.332596473

1.528094412

0.02280137

8.310090784

8.310122065

0.940941987

-0.940941987

25

1.145659651

1.747299957

1.158907506

1.145658403

1.74729414

1.158906185

1.145641105

1.664135243

1.15766446

1.145638703

1.664157018

1.157662396

0.020948331

8.314293878

8.314320268

1.058906987

-1.058906987

30

0.851196512

1.262835283

0.860513237

0.85119532

1.262828401

0.860511957

0.851179443

1.179639123

0.859314802

0.851177259

1.179653706

0.859312839

0.0192527

8.318157709

8.318179989

1.027758915

-1.027758915

35

0.625599058

0.921343568

0.632347152

0.62559793

0.921335673

0.632345922

0.625583373

0.838119652

0.63117272

0.625581381

0.838128067

0.631170857

0.01767649

8.321550109

8.321568883

0.920909702

-0.920909702

40

0.457318486

0.682580299

0.462384425

0.457317432

0.682571452

0.462383251

0.457304129

0.599332438

0.461214765

0.457302313

0.599335709

0.461213007

0.016173102

8.324459084

8.324474795

0.785427409

-0.785427409

45

0.333014516

0.514900403

0.336971648

0.333013542

0.51489067

0.336970538

0.333001461

0.431632123

0.335787188

0.332999813

0.431631162

0.335785542

0.014702657

8.326924114

8.326937094

0.646970563

-0.646970563

50

0.241061022

0.395678001

0.244286772

0.241060137

0.395667457

0.244285728

0.241049267

0.312392432

0.243065093

0.241047785

0.312388016

0.243063567

0.013236238

8.328998475

8.329008993

0.517496734

-0.517496734

55

0.172405584

0.309412049

0.175160051

0.172404795

0.309400774

0.175159075

0.172395144

0.226111945

0.173871654

0.172393829

0.226104725

0.173870255

0.011755379

8.330732427

8.330740721

0.401307532

-0.401307532

60

0.120363308

0.245648157

0.122844438

0.120362619

0.245636237

0.122843526

0.120354205

0.162335959

0.121444079

0.120353058

0.162326481

0.121442815

0.010250102

8.332167533

8.332173838

0.298854641

-0.298854641

65

0.080115555

0.197335735

0.082510097

0.080114973

0.19732326

0.082509233

0.080107813

0.114013644

0.080915097

0.080106838

0.114002374

0.080913972

0.008716871

8.333336034

8.333340593

0.208876144

-0.208876144

70

0.048216728

0.159671161

0.050791748

0.048216257

0.159658227

0.050790894

0.048210371

0.076341197

0.048811061

0.048209571

0.076328539

0.048810072

0.007156904

8.334262123

8.334265196

0.129505441

-0.129505441

75

0.022198039

0.129322226

0.025690374

0.022197683

0.129308931

0.025689397

0.022193088

0.045986276

0.022664521

0.022192465

0.045972589

0.022663633

0.005574881

8.334963704

8.334965569

0.058807301

-0.058807301

80

0.000274755

0.103917906

0.010395422

0.000274516

0.103904351

0.010394061

0.000271222

0.020577759

0.002075573

0.000270777

0.020563365

0.002074088

0.003978008

8.335454062

8.335455011

-0.004985287

0.004985287

85

-0.018861559

0.081713464

0.020555518

-0.018861679

0.081699752

0.020555083

-0.018863669

-0.001629168

0.018864373

-0.018863935

-0.001643969

0.018864651

0.002375316

8.335743255

8.335743594

-0.063381387

0.063381387

90

-0.036187395

0.061368914

0.036704073

-0.036187395

0.06135515

0.036703843

-0.036188085

-0.021974549

0.036254742

-0.036188172

-0.021989478

0.036254919

0.000777163

8.335839242

8.335839278

-0.117609032

0.117609032

95

-0.052446261

0.04180043

0.052612575

-0.052446141

0.041786719

0.052612346

-0.052445546

-0.041542263

0.052609817

-0.052445456

-0.041557057

0.052609844

-0.000805162

8.335748758

8.335748797

-0.16861771

0.16861771

100

-0.068215524

0.022079082

0.068251246

-0.068215285

0.022065527

0.068250963

-0.068213427

-0.06126129

0.068487963

-0.068213164

-0.061275698

0.06848783

-0.002359737

8.335478019

8.335478353

-0.217086277

0.217086277

105

-0.083950287

0.001361137

0.083950397

-0.083949931

0.001347842

0.083950039

-0.083946844

-0.081975411

0.084346146

-0.083946413

-0.081989196

0.084345851

-0.003874272

8.335033297

8.335034198

-0.263427195

0.263427195

110

-0.100010415

-0.021159299

0.100032796

-0.100009944

-0.021172233

0.100032353

-0.100005671

-0.104490579

0.100550073

-0.100005079

-0.104503513

0.100549618

-0.005336328

8.334421413

8.334423121

-0.307783905

0.307783905

115

-0.116674634

-0.046280093

0.116766385

-0.116674052

-0.046292567

0.116765853

-0.116668645

-0.129604724

0.117386314

-0.1166679

-0.129616595

0.117385704

-0.006733549

8.333650183

8.333652903

-0.350021783

0.350021783

120

-0.134144259

-0.074804889

0.13435267

-0.134143571

-0.074816809

0.134352049

-0.134137094

-0.158121569

0.135065851

-0.134136205

-0.158132177

0.135065093

-0.00805389

8.332728843

8.332732735

-0.389715887

0.389715887

125

-0.152538392

-0.107540188

0.152917004

-0.152537603

-0.107551462

0.152916296

-0.152530126

-0.190847707

0.153719445

-0.152529106

-0.190856872

0.153718547

-0.00928587

8.331668458

8.331673632

-0.42614126

0.42614126

130

-0.171882291

-0.145273411

0.172495118

-0.171881407

-0.145283955

0.172494325

-0.171873011

-0.22857067

0.173386209

-0.171871872

-0.228578234

0.17338518

-0.010418867

8.330482307

8.330488823

-0.458274274

0.458274274

135

-0.192091151

-0.188729206

0.193016055

-0.192090178

-0.188738939

0.193015181

-0.192080951

-0.272015238

0.19399746

-0.192079708

-0.272021069

0.193996311

-0.011443445

8.329186236

8.329194097

-0.484815908

0.484815908

140

-0.212952568

-0.238502246

0.214283992

-0.212951514

-0.238511094

0.214283043

-0.212941549

-0.321776237

0.215359009

-0.212940216

-0.321780235

0.215357751

-0.012351727

8.3277989

8.32780806

-0.504249214

0.504249214

145

-0.23411243

-0.294967964

0.235963325

-0.234111303

-0.294975859

0.235962305

-0.234100699

-0.378229279

0.237136482

-0.234099292

-0.378231383

0.237135127

-0.013137797

8.32634185

8.326352215

-0.514942137

0.514942137

150

-0.25507041

-0.358178306

0.257572962

-0.255069218

-0.358185188

0.257571878

-0.255058076

-0.441426508

0.258849755

-0.255056612

-0.4414267

0.258848316

-0.013798103

8.324839363

8.324850797

-0.515301658

0.515301658

155

-0.275191945

-0.427757443

0.278496626

-0.275190697

-0.42776326

0.278495483

-0.275179117

-0.510992311

0.279883329

-0.275177613

-0.510990622

0.279881819

-0.014331808

8.323317922

8.323330261

-0.503974677

0.503974677

160

-0.293742634

-0.502820687

0.298015137

-0.293741341

-0.502825395

0.298013941

-0.293729423

-0.586042227

0.299518662

-0.293727893

-0.58603874

0.299517094

-0.014741042

8.321805307

8.321818363

-0.480075657

0.480075657

165

-0.309947586

-0.5819454

0.315363458

-0.309946257

-0.581948963

0.315362217

-0.309934095

-0.665153845

0.31699123

-0.309932555

-0.665148693

0.316989616

-0.01503096

8.320329272

8.320342849

-0.443403829

0.443403829

170

-0.323072273

-0.663221052

0.329809514

-0.323070918

-0.663223442

0.329808234

-0.323058601

-0.746416845

0.33156936

-0.323057063

-0.746410211

0.331567713

-0.015209575

8.318915941

8.318929845

-0.394600163

0.394600163

175

-0.332514173

-0.74439364

0.340744618

-0.332512802

-0.744394839

0.340743306

-0.33250041

-0.827577415

0.342644665

-0.332498886

-0.827569521

0.342642995

-0.015287309

8.317588107

8.317602156

-0.335194013

0.335194013

180

-0.3378883

-0.823097542

0.347769175

-0.337886924

-0.823097542

0.347767837

-0.337874526

-0.90627008

0.349817738

-0.337873024

-0.90626118

0.349816057

-0.015276314

8.316363727

8.316377758

-0.267506701

0.267506701

185

-0.339087758

-0.897141388

0.350755092

-0.339086387

-0.897140188

0.350753736

-0.339074044

-0.980303573

0.352960562

-0.339072569

-0.980293937

0.352958877

-0.015189613

8.315254909

8.315268783

-0.194412738

0.194412738

190

-0.336304568

-0.964793758

0.349870022

-0.336303213

-0.964791368

0.349868653

-0.336290974

-1.047946531

0.35224074

-0.336289528

-1.047936434

0.352239058

-0.015040209

8.314267618

8.314281222

-0.118998626

0.118998626

195

-0.330005489

-1.025009196

0.345557609

-0.33000416

-1.025005633

0.345556234

-0.329992067

-1.108153508

0.348101718

-0.329990649

-1.108143217

0.348100046

-0.014840287

8.313402166

8.313415412

-0.044188884

0.044188884

200

-0.320869161

-1.077548953

0.338479151

-0.320867867

-1.077544245

0.338477775

-0.320855952

-1.160685736

0.34120442

-0.32085456

-1.160675497

0.341202762

-0.014600616

8.312654384

8.312667206

0.027583518

-0.027583518

205

-0.309700041

-1.122979101

0.329431231

-0.309698793

-1.122973284

0.32942986

-0.309687083

-1.206109239

0.332344827

-0.30968571

-1.206099273

0.332343187

-0.014330222

8.312017235

8.312029588

0.094602373

-0.094602373

210

-0.297338244

-1.16255974

0.319257706

-0.297337052

-1.162552858

0.319256345

-0.297325567

-1.245684066

0.322365911

-0.297324208

-1.245674565

0.32236429

-0.014036317

8.311482563

8.311494415

0.155962609

-0.155962609

215

-0.284581909

-1.198061552

0.308772372

-0.284580782

-1.198053658

0.308771027

-0.284569539

-1.28118085

0.312080224

-0.284568185

-1.281171979

0.312078625

-0.013724421

8.311042692

8.311054023

0.211542566

-0.211542566

220

-0.27213229

-1.231553737

0.298702576

-0.272131235

-1.23154489

0.298701251

-0.272120249

-1.314668756

0.302213449

-0.272118891

-1.314660654

0.302211875

-0.013398601

8.310691692

8.310702493

0.261887517

-0.261887517

225

-0.260564362

-1.265201389

0.289656921

-0.260563388

-1.265191656

0.289655621

-0.26055267

-1.348312864

0.293372067

-0.2605513

-1.348305651

0.293370519

-0.013061728

8.310426232

8.310436497

0.308046632

-0.308046632

230

-0.250319904

-1.301096257

0.282114461

-0.250319019

-1.301085714

0.28211319

-0.25030858

-1.384204932

0.286032547

-0.250307188

-1.384198718

0.286031029

-0.012715664

8.31024602

8.310255749

0.351400777

-0.351400777

135

-0.192091151

-0.188729206

0.193016055

-0.192090178

-0.188738939

0.193015181

-0.192080951

-0.272015238

0.19399746

-0.192079708

-0.272021069

0.193996311

-0.011443445

8.329186236

8.329194097

-0.484815908

0.484815908

140

-0.212952568

-0.238502246

0.214283992

-0.212951514

-0.238511094

0.214283043

-0.212941549

-0.321776237

0.215359009

-0.212940216

-0.321780235

0.215357751

-0.012351727

8.3277989

8.32780806

-0.504249214

0.504249214

145

-0.23411243

-0.294967964

0.235963325

-0.234111303

-0.294975859

0.235962305

-0.234100699

-0.378229279

0.237136482

-0.234099292

-0.378231383

0.237135127

-0.013137797

8.32634185

8.326352215

-0.514942137

0.514942137

150

-0.25507041

-0.358178306

0.257572962

-0.255069218

-0.358185188

0.257571878

-0.255058076

-0.441426508

0.258849755

-0.255056612

-0.4414267

0.258848316

-0.013798103

8.324839363

8.324850797

-0.515301658

0.515301658

155

-0.275191945

-0.427757443

0.278496626

-0.275190697

-0.42776326

0.278495483

-0.275179117

-0.510992311

0.279883329

-0.275177613

-0.510990622

0.279881819

-0.014331808

8.323317922

8.323330261

-0.503974677

0.503974677

160

-0.293742634

-0.502820687

0.298015137

-0.293741341

-0.502825395

0.298013941

-0.293729423

-0.586042227

0.299518662

-0.293727893

-0.58603874

0.299517094

-0.014741042

8.321805307

8.321818363

-0.480075657

0.480075657

165

-0.309947586

-0.5819454

0.315363458

-0.309946257

-0.581948963

0.315362217

-0.309934095

-0.665153845

0.31699123

-0.309932555

-0.665148693

0.316989616

-0.01503096

8.320329272

8.320342849

-0.443403829

0.443403829

170

-0.323072273

-0.663221052

0.329809514

-0.323070918

-0.663223442

0.329808234

-0.323058601

-0.746416845

0.33156936

-0.323057063

-0.746410211

0.331567713

-0.015209575

8.318915941

8.318929845

-0.394600163

0.394600163

175

-0.332514173

-0.74439364

0.340744618

-0.332512802

-0.744394839

0.340743306

-0.33250041

-0.827577415

0.342644665

-0.332498886

-0.827569521

0.342642995

-0.015287309

8.317588107

8.317602156

-0.335194013

0.335194013

t2*180/pi
180

F21x (10^3lb)
(10^2lb) F14(10^3lb)
-0.3378883 F21y(10^2lb)
-0.823097542 F21(10^3lb)
0.347769175 F32x(10^3lb)
-0.337886924 F32y(10^2lb)
-0.823097542 F32(10^3lb)
0.347767837 F43x(10^3lb)
-0.337874526 F43y(10^2lb)
-0.90627008 F43(10^3lb)
0.349817738 F14x(10^3lb)
-0.337873024 F14y
-0.90626118
0.349816057 Fsx-0.015276314 Fsy 8.316363727 Fs 8.316377758 Ts*10^2
-0.267506701 TO*10^2
0.267506701

0
185

2.614490577
-0.339087758

6.018013477
-0.897141388

2.682857774
0.350755092

2.6144892
-0.339086387

6.018013477
-0.897140188

2.682856433
0.350753736

2.614464631
-0.339074044

5.934963254
-0.980303573

2.68098176
0.352960562

2.614460632
-0.339072569

5.935009197
-0.980293937

2.680978877
0.352958877

0.029944827
-0.015189613

8.300427995
8.315254909

8.300482009
8.315268783

-1.95585438
-0.194412738

1.95585438
0.194412738

5
190

2.578124092
-0.336304568

5.309395636
-0.964793758

2.632227318
0.349870022

2.578122721
-0.336303213

5.309394436
-0.964791368

2.632225951
0.349868653

2.578099072
-0.336290974

5.22634527
-1.047946531

2.630540186
0.35224074

2.578095388
-0.336289528

5.226392874
-1.047936434

2.630537522
0.352239058

0.028704092
-0.015040209

8.300276176
8.314267618

8.300325808
8.314281222 -0.988717789
-0.118998626

0.988717789
0.118998626

10
195

2.311923945
-0.330005489

4.306381426
-1.025009196

2.351689082
0.345557609

2.311922589
-0.33000416

4.306379036
-1.025005633

2.351687705
0.345556234

2.311900404
-0.329992067

4.223313707
-1.108153508

2.350158987
0.348101718

2.311897086
-0.329990649

4.223357997
-1.108143217

2.350156519
0.348100046

0.02685934
-0.014840287

8.302342975
8.313402166

8.302386422
8.313415412 -0.073561805
-0.044188884

0.073561805
0.044188884

15
200

1.920779755
-0.320869161

3.285738669
-1.077548953

1.94868049
0.338479151

1.920778425
-0.320867867

3.285735106
-1.077544245

1.94867912
0.338477775

1.920757915
-0.320855952

3.20264201
-1.160685736

1.947275052
0.34120442

1.920754948
-0.32085456

3.202679708
-1.160675497

1.947272745
0.341202762

0.024806497
-0.014600616

8.305896039
8.312654384

8.305933083
8.312667206

0.584208294
0.027583518 -0.584208294
-0.027583518

20
205

1.510209038
-0.309700041

2.41569738
-1.122979101

1.529407492
0.329431231

1.510207744
-0.309698793

2.415692673
-1.122973284

1.52940614
0.32942986

1.510188897
-0.309687083

2.332566744
-1.206109239

1.528096587
0.332344827

1.510186236
-0.30968571

2.332596473
-1.206099273

1.528094412
0.332343187

0.02280137
-0.014330222

8.310090784
8.312017235

8.310122065
8.312029588

0.940941987
0.094602373 -0.940941987
-0.094602373

25
210

1.145659651
-0.297338244

1.747299957
-1.16255974

1.158907506
0.319257706

1.145658403
-0.297337052

1.74729414
-1.162552858

1.158906185
0.319256345

1.145641105
-0.297325567

1.664135243
-1.245684066

1.15766446
0.322365911

1.145638703
-0.297324208

1.664157018
-1.245674565

1.157662396
0.32236429

0.020948331
-0.014036317

8.314293878
8.311482563

8.314320268
8.311494415

1.058906987
0.155962609 -1.058906987
-0.155962609

30
215

0.851196512
-0.284581909

1.262835283
-1.198061552

0.860513237
0.308772372

0.85119532
-0.284580782

1.262828401
-1.198053658

0.860511957
0.308771027

0.851179443
-0.284569539

1.179639123
-1.28118085

0.859314802
0.312080224

0.851177259
-0.284568185

1.179653706
-1.281171979

0.859312839
0.312078625

0.0192527
-0.013724421

8.318157709
8.311042692

8.318179989
8.311054023

1.027758915
0.211542566 -1.027758915
-0.211542566

35
220

0.625599058
-0.27213229

0.921343568
-1.231553737

0.632347152
0.298702576

0.62559793
-0.272131235

0.921335673
-1.23154489

0.632345922
0.298701251

0.625583373
-0.272120249

0.838119652
-1.314668756

0.63117272
0.302213449

0.625581381
-0.272118891

0.838128067
-1.314660654

0.631170857
0.302211875

0.01767649
-0.013398601

8.321550109
8.310691692

8.321568883
8.310702493

0.920909702
0.261887517 -0.920909702
-0.261887517

40
225

0.457318486
-0.260564362

0.682580299
-1.265201389

0.462384425
0.289656921

0.457317432
-0.260563388

0.682571452
-1.265191656

0.462383251
0.289655621

0.457304129
-0.26055267

0.599332438
-1.348312864

0.461214765
0.293372067

0.457302313
-0.2605513

0.599335709
-1.348305651

0.461213007
0.293370519

0.016173102
-0.013061728

8.324459084
8.310426232

8.324474795
8.310436497

0.785427409
0.308046632 -0.785427409
-0.308046632

45
230

0.333014516
-0.250319904

0.514900403
-1.301096257

0.336971648
0.282114461

0.333013542
-0.250319019

0.51489067
-1.301085714

0.336970538
0.28211319

0.333001461
-0.25030858

0.431632123
-1.384204932

0.335787188
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-0.014600616

8.312654384

8.312667206

0.027583518

-0.027583518

205

-0.309700041

-1.122979101

0.329431231

-0.309698793

-1.122973284

0.32942986

-0.309687083

-1.206109239

0.332344827

-0.30968571

-1.206099273

0.332343187

-0.014330222

8.312017235

8.312029588

0.094602373

-0.094602373

210

-0.297338244

-1.16255974

0.319257706

-0.297337052

-1.162552858

0.319256345

-0.297325567

-1.245684066

0.322365911

-0.297324208

-1.245674565

0.32236429

-0.014036317

8.311482563

8.311494415

0.155962609

-0.155962609

215

-0.284581909

-1.198061552

0.308772372

-0.284580782

-1.198053658

0.308771027

-0.284569539

-1.28118085

0.312080224

-0.284568185

-1.281171979

0.312078625

-0.013724421

8.311042692

8.311054023

0.211542566

-0.211542566

F12y en funcion de F12x

F12x y F12y en funcion de tetha2

300

500

200
0

100
0
-100

-1000

F12y

F12x y F12y

-500

-1500

-200
-300
-400

-2000

-500
-2500

-600
-3000

50

100

150
200
250
tetha2 en grados

300

350

-700
-3000

400

-2500

2500

2500

2000

2000

1500

1000

150
200
250
tetha2 en grados

500

1000

500

100

-500

1500

500

50

-1000

F43x y F43y en funcion de tetha2

3000

F43x y F43y

F32x y F32y

F32x y F32y en funcion de tetha2

-1500
F12x

3000

-500

-2000

300

350

-500

400

50

100

F14x y F14y en funcion de tetha2

150
200
250
tetha2 en grados

300

350

400

F14y en funcion de F14x

3000

700
600

2500

500
400
300

1500
F14y

F14x y F14y

2000

1000

200
100
0

500

-100

0
-200

-500

50

100

150
200
250
tetha2 en grados

300

350

-300
-500

400

500

1000

1500

2000

2500

3000

F14x

Fsx en funcion de tetha2

0.04

Fsy en funcion de tetha2

8.34
8.335

0.03

8.33

0.02

Fsy

Fsx

8.325

0.01

8.32
8.315

8.31

-0.01
8.305

-0.02

50

100

150

200
tetha2

250

300

350

400

8.3

50

100

150

200
tetha2

250

300

350

400

Fs en funcion de tetha2

Fsy en funcion de Fsx

8.34

8.335

8.335

8.33

8.33

8.325

8.325
Fsy

Fs

8.34

8.32

8.32

8.315

8.315

8.31

8.31

8.305

8.305

8.3

50

100

150

200
tetha2

250

300

350

8.3
-0.02

400

-0.01

0.01
Fsx

0.02

0.03

0.04

TO y Ts en funcion de tetha2
300

Ts en funcion de tetha2
150
100

200

50

100

-50

Ts

TO y Ts

-100

-100

-150
-200

-200
-250

-300

50

100

150
200
250
tetha2 en grados

300

350

-300

400

50

100

150

200
tetha2

250

300

350

400

F21,F32,F43 y F14 en funcion de tetha2

3000

F21,F32,F43 y F14

2500

2000

1500

1000

500

50

100

150
200
250
tetha2 en grados

300

350

400

Carga con direcion en Y POSITIVA

F3

F3

T3

T3

T3
T4

T2

T2

T4

Y(lb-plg 10^2)

Y(lb-plg 10^2)

X(rad)

X(rad)

AREA POSITIVA: 1.9858*10^2 Lb-plg-rad

AREA NEGATIVA: 1.9858*10^2 Lb-plg-rad
Variando la Carga con direcion en Y NEGATIVA
F3

F3

T3

T3

T4

T2

T4

Y(lb-plg 10^2)
Y(lb-plg 10^2)

X(rad)
X(rad)

AREA POSITIVA: 2.0185*10^2 Lb-plg-rad

AREA NEGATIVA: 2.0185*10^2 Lb-plg-rad

OBSERVACIONES:
1. Las reas positivas significan o dan a entender que el valor del torque de salida (TO) est en sentido de
la velocidad angular del eslabn de entrada(eslabn 2), es el verdadero torque que se requiere para
mover el mecanismo, es decir vencer las inercias de todos los eslabones y la carga sobre ellos.
2. En cambio las reas negativas dan a entender que el valor del torque de salida(TO) est en sentido
contrario de la velocidad angular del eslabn de entrada(eslabn 2), es el torque que se requiere para
frenar el mecanismo hasta la velocidad angular de entrada requerida cuando este ya haya vencido las
inercias y tiende a embalarse desde una cierta posicin tetha2.