CONFIGURACION NO DEFORMADA

In[113]:=

Ro@P_, Q_D := 8PP1T QP1T - PP2T QP2T, PP1T QP2T + PP2T QP1T, QP3T<;
ClearAll@1, 2, , p1, p2, q1, q2D;
e1 = 81, 0, 0<;

H*Parmetros cinemticos*L
1 = 25 Degree;
2 = 70 Degree;

H*Magnitudes de los eslabones*L

l11 = 3.5;
l21 = 2.0;
H*Definicin de parmetros de rotacin*L
p1 = Cos@1D;
p2 = Sin@1D;
q1 = Cos@2D;
q2 = Sin@2D;
p = 8p1, p2, 0<;
q = 8q1, q2, 0<;

H*Rotacin de bases*L
e11 = Ro@p, e1D;
e12 = Ro@q, e11D;
b1 = l11 e11;
b2 = l21 e12;
rp = b1 + b2;
H*Anlisis de VELOCIDAD*L
w1 = 1.5; w2 = 2;
W1 = 80, w1, 0<;
W2 = 80, w2, 0<;
vA = Ro@W1, b1D;
vBA = Ro@W2, b2D;
v = vA + vBA N;
Print@"Posicin = ", rpD;

_3__2gdl_Cos_vector Tangente aaa.nb

Print@"vA = ", vAD;

Print@"vBA = ", vBAD;
Print@"v = ", vD;
H*Anlisis de Aceleracin
1=1.2; 2=-1.5;
A1=9-w12,1,0=;
A2=9-w22,2,0=;
aA=Ro@A1,b1D;
aBA=Ro@A2,b2D;
A=aA+aBAN*L
g1 = Graphics3D@8

8AbsoluteThickness @8D, RGBColor@0, 0, 1D, Line@880, 0, 0<, b1<D<,

8AbsoluteThickness @5D, RGBColor@0, 1, 1D, Line@8b1, rp<D<,

Cuboid@8-20, 0, -20<, 850, 0, 50<D

<D;

Show@ g1, Axes True, PlotRange 88-5, 5<, 8-0.5, 5<, 8-5, 5<<,
ViewPoint 80, 0, 3.384<, Ticks True D

Posicin = 82.99777, 3.47155, 0.<

vA = 8- 2.21875, 4.75812, 0.<

vBA = 8- 3.98478, - 0.348623, 0.<

v = 8- 6.20352, 4.40949, 0.<

5
0
-5
4

Out[142]=

0
-5

_3__2gdl_Cos_vector Tangente aaa.nb

ClearAll@P1, P2, Q1, Q2, rp1, b1, b2, w1, w2, v, vBA, vAD;
P = 8P1, P2<;
Q = 8Q1, Q2<;
a11 = Ro@P, e11D;
a12 = Ro@Q, e12D;
b1 = l11 a11;
b2 = l21 a12;
rp1 = b1 + b2 N

83.5 H0.906308 P1 - 0.422618 P2L + 2. H- 0.0871557 Q1 - 0.996195 Q2L,

3.5 H0.422618 P1 + 0.906308 P2L + 2. H0.996195 Q1 - 0.0871557 Q2L, 0.<
W1 = 80, w1, 0<;
W2 = 80, w2, 0<;
vA = Ro@W1, b1D;
vBA = Ro@W2, b2D;
v = vA + vBA N

8- 6.20352, 4.40949, 0.<

CINEMTICA INVERSA
i = 0;
ForB = 45, 230, += 5,
ClearAll@P1, P2, Q1, Q2, rp1, b1, b2, w1, w2, v, vBA, vA, vx, vyD;
P = 8P1, P2<;
Q = 8Q1, Q2<;
a11 = Ro@P, e11D;
a12 = Ro@Q, e12D;
b1 = l11 a11;
b2 = l21 a12;
rp1 = b1 + b2 N;
H*Anlisis de VELOCIDAD*L
H*w1=1.5;
w2=2;*L
W1 = 80, w1, 0<;
W2 = 80, w2, 0<;
vA = Ro@W1, b1D;
vBA = Ro@W2, b2D;
vef = vA + vBA N;
H*Construimos la trayectoria a seguir*L
r = 4; w = 2;
h = - 1;
k = 1;
x = h + r Cos@ DegreeD;
;

_3__2gdl_Cos_vector Tangente aaa.nb

y = k + r Sin@ DegreeD;
H*Derivamos con respecto al tiempo: dxdt= dxds*dydt *L
vx = - r Sin@ DegreeD w;
vy = r Cos@ DegreeD w;
v = SqrtAvx2 + vy2 E;

f1 = rp1@@1DD x;
f2 = rp1@@2DD y;
f3 = vef@@1DD vx;
f4 = vef@@2DD vy;
f5 = P12 + P22 1;
f6 = Q12 + Q22 1;
sol = FindRoot@8f1, f2, f3, f4, f5, f6<, 8P1, 0.6<, 8P2, 0.1<,
8Q1, 0.2<, 8Q2, 0.4<, 8w1, 0.2<, 8w2, 0.4<, AccuracyGoal 1D;
resp = 8P1, P2, Q1, Q2, w1, w2< . sol;
P1
P2
Q1
Q2
w1
w2

=
=
=
=
=
=

resp@@1DD;
resp@@2DD;
resp@@3DD;
resp@@4DD;
resp@@5DD;
resp@@6DD;

H*Calcular el vector unitario tangente a la trayectoria*L

H*DRDs*L

DxDs =

N;

vx Dt
2

vx + vy
DyDs =

Dt
N;

vy Dt
2

vx + vy

Dt

DRDs = 8DxDs, DyDs, 0<;

MDRDs =

DxDs2 + DyDs2 N;

l = Arrowheads@MediumD;
g2@iD = Graphics3D@8

_3__2gdl_Cos_vector Tangente aaa.nb

8AbsoluteThickness@8D, RGBColor@0, 0, 1D, Line@880, 0, 0<, b1<D<,

8AbsoluteThickness@5D, RGBColor@0, 1, 1D, Line@8b1, rp1<D<,
H*Graficando vector velocidad*L
8AbsoluteThickness@1D, Red , l, Arrow@8b1, b1 + vA <D<,
8AbsoluteThickness@1D, Red , l, Arrow@8b1 + b2, b1 + b2 + vBA <D<,
8AbsoluteThickness@1D, Red , l, Arrow@8rp1, rp1 + vef <D<,
H*Radio de giro*L
8AbsoluteThickness@1D, Black , l, Dashed, Arrow@88h, k, 0<, rp1 <D<,
H*Vector unitario*L
8AbsoluteThickness@2D, Blue , l, Arrow@8rp1, rp1 + DRDs <D<,
8Text@"vA", b1 + vAD< , 8Text@"vBA", b1 + b2 + vBAD<,
8Text@"vB", rp1 + vefD<,
H*Graficamos piso*L
Cuboid@8- 20, 0, - 20<, 850, 0, 50<D
<D;
punto@iD = Graphics3D@88PointSize@0.008D, Black, Point@rp1D <,
8PointSize@0.025D, Black, Point@8h, k, 0<D <
<D;
g3@iD = Graphics3D@8
8Text@"A0", 80, 0, 0<D< ,
8Text@"A", b1D< ,
8Text@"B", rp1D<,
8Text@"rp= ", 8- 4.5, 9.0, 0<D< , 8Text@rp1, 8- 2.0, 9.0, 0<D<,
8Text@"rp= ", 8- 4.5, 8.5, 0<D< , 8Text@Norm@rp1D, 8- 2.0, 8.5, 0<D<,
8Text@"vB= ", 8- 4.5, 8.0, 0<D< , 8Text@vef, 8- 2, 8.0, 0<D<,
8Text@"vB= ", 8- 4.5, 7.5, 0<D< , 8Text@Norm@vefD, 8- 2, 7.5, 0<D<,
8Text@"w1= ", 82, 9.0, 0<D< , 8Text@w1, 83, 9.0, 0<D<,
8Text@"w2= ", 82, 8.5, 0<D< , 8Text@w2, 83, 8.5, 0<D<,
8Text@"vA= ", 8- 4.5, 7.0, 0<D< , 8Text@vA, 8- 1.5, 7.0, 0<D<,
8Text@"vA= ", 8- 4.5, 6.5, 0<D< , 8Text@Norm@vAD, 8- 2, 6.5, 0<D<,
8Text@"R", 8x 1.5, y 1.5, 0<D< ,
H*Vector unitario*L
8Text@Norm@vAD, 8- 2, 6.5, 0<D<,
t1 = ArcCos@P1D Degree N;
t2 = ArcCos@Q1D Degree N;
8Text@"1= ", 82, 7.5, 0<D< , 8Text@t1, 83, 7.5, 0<D<,
8Text@"2= ", 82, 7.0, 0<D< , 8Text@t2, 83, 7.0, 0<D<

_3__2gdl_Cos_vector Tangente aaa.nb

<D;
i ++;

Manipulate@
Show@ 8 g1, g3@tD, g2@tD, Table@punto@uD, 8u, 0, t<D <,
Axes True, PlotRange 88- 10, 5<, 8- 7, 10<, 8- 2, 2<<,
ViewPoint 80, 0, 3.384<, AspectRatio Automatic D
, 8t, 0, i - 2, 1<D H*Cierro el Show*L

ShowB:

, g3@30D, g2@30D,

8punto@0D, punto@1D, punto@2D, punto@3D, punto@4D, punto@5D, punto@6D,

punto@7D, punto@8D, punto@9D, punto@10D, punto@11D, punto@12D,
punto@13D, punto@14D, punto@15D, punto@16D, punto@17D, punto@18D,
punto@19D, punto@20D, punto@21D, punto@22D, punto@23D, punto@24D,
punto@25D, punto@26D, punto@27D, punto@28D, punto@29D, punto@30D<>,

Axes True, PlotRange 88- 10, 5<, 8- 7, 10<, 8- 2, 2<<,

ViewPoint 80, 0, 3.384<, AspectRatio AutomaticF

Show::gcomb : Could not combine the graphics objects in Show@1D.

Show::gcomb : Could not combine the graphics objects in Show@1D.
Show::gcomb : Could not combine the graphics objects in

ShowA1, Axes True, PlotRange 88-10, 5<, 8-7, 10<, 8-2, 2<<, ViewPoint 80, 0, 3.384<, AspectRatio
AutomaticE.

Show::gcomb : Could not combine the graphics objects in

ShowA9g1, 3=, Axes True, PlotRange 88-10, 5<, 8-7, 10<, 8-2, 2<<, ViewPoint 80, 0, 3.384<,
AspectRatio AutomaticE.

_3__2gdl_Cos_vector Tangente aaa.nb

r = 3; w = 2;
ForB = 90, 135, += 1,
x = r Cos@ DegreeD;
y = r Sin@ DegreeD;
PrintA"p= ", SqrtAx2 + y2 E NE;
xp = - r Sin@ DegreeD w;
yp = r Cos@ DegreeD w;
PrintA"v= ", SqrtAxp2 + yp2 E NE;
H*Calcular el vector unitario tangente a la trayectoria*L
H*DRDs*L

DxDs =

N;

xp Dt
2

xp + yp
DyDs =

Dt
N;

yp Dt
2

xp + yp

Dt

DRDs = DxDs i + DyDs j;

DRDs =

DxDs2 + DyDs2 N;

Print@DRDsD
F;
ParametricPlot@8r Cos@ DegreeD, r Sin@ DegreeD<,
8, 90, 135<, PlotRange 88- r, r<, 8- r, r<<D
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.

_3__2gdl_Cos_vector Tangente aaa.nb

1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.

_3__2gdl_Cos_vector Tangente aaa.nb

p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.

10

_3__2gdl_Cos_vector Tangente aaa.nb

v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.

_3__2gdl_Cos_vector Tangente aaa.nb

1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
p= 3.
v= 6.
1.
3

-3

-2

-1

-1

-2

-3

11