ANALISIS ALGEBRAICO DE POSICION DE MECANISMOS

Datos de ingreso
2 30
a 2

b 7
c 9
d 6

Calculos
Ax a cos ( 2)

Ax 1.732

Ay a sin ( 2)

Ay 1

Ay

( Ax d )
2

P 1.055

a b c d

S0

2 ( Ax d )
2 Ay ( d S)

R ( d S) c

By1

Q 2.812

Ax d

R 45

Q 4 P R
2 P

By1 7.999

By2

Q Q 4 P R
2 P
2 Ay By1

Bx1 S

Bx1 1.874

2 ( Ax d )
2 Ay By2

Bx2 S

By2 5.333

Bx2 1.25

2 ( Ax d )

Primera solucion
31 atan

By1 Ay

Bx1 Ax

41 atan

By1

Bx1 d

31 88.837

41 62.714

41 41 180
41 117.286

Segunda solucion
32 atan

By2 Ay

42 atan

By2

32 32 180

32 64.789

Bx2 Ax

32 244.789

Bx2 d

42 42 180

42 36.34

42 216.34

i 0 24

i 15
i

T tan
i

S sin
i

AT atan T

C cos

AT

15

0.259

0.966

0.268

15

30

0.5

0.866

0.577

30

45

0.707

0.707

45

60

0.866

0.5

1.732

60

75

0.966

0.259

3.732

75

90

1.6331016

90

105

0.966

-0.259

-3.732

-75

120

0.866

-0.5

-1.732

-60

135

0.707

-0.707

-1

-45

150

0.5

-0.866

-0.577

-30

165

0.259

-0.966

-0.268

-15

180

-1

-0

195

-0.259

-0.966

0.268

15

210

-0.5

-0.866

0.577

30

225

-0.707

-0.707

45

240

-0.866

-0.5

1.732

60

255

-0.966

-0.259

3.732

75

270

-1

5.4441015

90

285

-0.966

0.259

-3.732

-75

300

-0.866

0.5

-1.732

-60

315

-0.707

0.707

-1

-45

330

-0.5

0.866

-0.577

-30

345

-0.259

0.966

-0.268

-15

360

-0

j 1 4

x
j

0
Ax
Bx1
d

y
j

0
Ay
By1
0

8
6
yi

4
2
0

xi

0
Ax
Bx2
d

0
Ay
By2
0

2
0
yi

2
4
6
2

2
xi

Condicion de Grashof
S1 a

S1 2

L1 c

L1 9

P1 b

P1 7

Q1 d

Q1 6

Gr

"Si es Grashof" if S1 L1 P1 Q1
"No es Grashof" if S1 L1 P1 Q1
"Caso especial de Grashof" if S1 L1

Gr "Si es Grashof"

P1 Q1