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DATOS:
Kf=0.01N/(mm)
F=0.15 N (fuerza de oposicin)
PARA EL ELEMENTO 6
46 + F 16+ W
6+ F
=m 6 aG
a G = F
F=m
x
> F x46 + F16
+W 6x + F x =m 6 axG
x
M G =I G = R g 6 A x F 46+ R g 6 E x F 16=I G 6
6
y
y
x
Rgx 6 A F 46
R gy 6 A F x46 + R xg 6 E F 16
R yg 6 E F16
=I G 6 (3)
6
PARA EL ELEMENTO 5
45 + F 15+ W
5=m5 aG
a G = F
F=m
45=F 54
F
15 + W
5 =m5 a G
F 54 + F
x
>F54 + F 15 +W 5=m5 aG
x
F x54 + F15
=maGx ..(4)
5
y
>F54y + F 15
+W 5y =m5 aGy (5)
5
M G =I G = R g 5 C x F 15+ R g 5 B x F 45=I G 5
5
45=F 54
F
y
x
Rgx 5 C F15y R gy 5 C F x15 R xg 5 B F 54
+ R yg5 B F 54
=I G 5 .(6)
5
PARA EL ELEMENTO 4
34 + F 54+ F 64 + W
4=m4 a G
a G = F
F=m
64 =F 46
F
34 + F 54 F 46+ W
4 =m 4 a G
F
x
x
F34
+ F x54F x46=m4 aGx (7)
4
y
y
y
> F 34
+ F 54
F 46
+W 4y =m4 aGy ..(8)
4
M G =I G = R g 4 M x F 34 + R g 4 A x F 64=I G 4
4
x
y
x
Rgx 4 M F34y R gy 4 M F 34
+ R xg 4 A F 64
Rgy 4 A F64
=I G 4
4
64 =F 46
F
x
y
Rgx 4 M F34y R gy 4 M F 34
R xg 4 A F 46
+ R yg 4 A F x46=I G 4 ..(9)
4
PARA EL ELEMENTO 3
23 + F
43+ W
3=m3 aG
a G = F
F=m
43=F 34
F
23 F 34 + W
3=m3 a G
F
x
> F x23F34
+W x3=m 3 aGx
x
y
> F 23
F34y +W 3y =m3 aGy .(11)
3
M G =I G = R g 3 M x F 43+ R g 3 D x F 23=I G 3
3
y
y
x
Rgx 3 M F 43
R gy 3 M F x43 + R xg 3 D F 23
Rgy 3 D F 23
=I G 3
3
43=F 34
F
x
y
x
R xg 3 M F34y + R gy 3 M F34
+ R xg 3 D F 23
Rgy 3 D F 23
=I G 3 ........(12)
3
PARA EL ELEMENTO 2
12 + F
32 + W
2=m2 a G
a G = F
F=m
32= F 23
F
12 F 23+ W
2=m2 a G
F
x
> F x12F 23
=m2 aGx
x
F12
F x23 =m2 axG ..(13)
2
y
x
Rgx 2 D F 32
R yg 2 D F32
+ R xg 2 F F12y R gy 2 F F x12+T =I G 2
2
32= F 23
F
x
W 2x =0
W 3x =0
W 4 =0
W 5x =0
x
W 6 =0
DATOS:
F=(0.10
87 , 0.10 34) (aplicado en la salida)
G2= 19.753 x 106 Kg/m2
I
I G =19.753 x 106 Kg/m2
3
m2=0.016632 Kg
m3=0.016632 Kg
m4=0.04752 Kg
m5=0.02592 Kg
m6=0.015984 Kg
2=0.163159 N j
W
3=0.163159 N j
W
4 =0.4661712 N j
W
5=0.2542752 N j
W
6=0.1568 N j
W
4=1 631.6667
5=435. 6
rad
k
2
s
rad
k
s2
rad
k
s2
6=3579.506173
rad
k
s2
a G =(18.82,98 .51)
3
a G =(54.89,38.05)
4
a G =(27.44,19.02)
5
a G =(74.22 ,132.32)
6
r G D=(0.005235;0.04242)m
2
r G D=(0.04215;0.00711)m
3
r G M =(0.04215; 0.00711)m
3
r G M =(0.13536;0.06456)m
4
r G A =(0.13536 ; 0.06456)m
4
r G B =( 0.02929; 0.06904)m
5
r G C =(0.02929 ;0.06904 )m
5
r G A =(0.028005; 0.029265)
6
r G E=(0.028005;0.029265) m
6
F16 = 19.8723
X
F54 = 5.8582
F54Y = 15.1092
X
F15 = 6.5694
F15Y = 14.8704
X
F34 = 16.5486
F34Y = 1.3595
F23 X =16.235 6
F23Y = 3.1611
F12 X = 16.2441
F12Y = 3.3948
T=1.3435
F 46=26.6308
F16=27.1530
F54 =16.2051
F15=16.2569
F34 =16.6043
F23=16.5405
F12=16.59 50
T=1.3435