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# posició

## Para la determinación de la posición inicial se plantea la ecuación de cierre

del mecanismo que tiene la siguiente expresión vectorial:
θ 4
rrrr 3
r
= r
+ r
+ r
A
1
2
3
4
B
θ 3
α 2
rrrr 4
ω
2
r e
1
= r e
2
+ r e
3
+ r e
4
1
2
3
4
rrrr 2
θ 2
B 0
rrrr 1
r
cos
θ
=
r
cos
θ
+
r
cos
θ
+
r
cos
θ
A 0
1
1
2
2
3
3
4
4
θ 1
r sen
θ
=
r sen
θ
+
r sen
θ
+
r sen
θ
1
1
2
2
3
3
4
4
www.FisicaA.com

2

4

r
1
= s

2

1 2

2

2

3

3

2

2

4

3

B
θ 4
rrrr 3
A
θ 3
β
φ
2
2
2
α
r
+
s
+
r
4
3
φ =
a cos
rrrr 4
rrrr 2
2 sr
3
s
r
2
= asen (
senθ
)
δ
2
s
θ 2
r
A 0
β
B 0
3
= asen (
senφ
)
rrrr 1
r
4
www.FisicaA.com

3

4

h

2

= g

2

i

λ

2

= g e

2

2

2

2

x

p

2

y

p

2

=

=

g

2

g

2

cos

2

=

g

2

cos

2

+

2

sin

2

=

g

2

sin

2

+

2

 

h

3

= r

2

+ g

3

i

λ

3

e

3

3

x

p

3

=

r

2

cos

θ

2

+

g

3

cos(

θ

3

+

φ

3

y

p

3

=

r sen

2

θ

2

+

g sen (

3

θ

3

+

φ

3

)

3
)

h

4

= r

1

i

λ

4

+ g e

4

4

4

x

p

4

=

r

1

+

g

4

cos(

θ

4

φ

4

+

180)

y

p

4

=

g sen (

4

θ

4

φ

4

+

180)

− φ
4

A
P
2
α
hhhh 2 =g
2
2
ω
Y
2
φ
2
rrrr 2
θ 2
A 0
www.FisicaA.com
P 3
g 3
θ 4
B
φ 3
rrrr 3
θ 3
rrrr 4
hhhh 3
P
4
φ 4
g
4
hhhh 4
rrrr 1
X
B 0

r 1 e

iθ

• 1 3

= r e

2

2

+ r e

3

iθ

iθ

+ r e

4

iθ

4

2

iθ

• 2 4

3

4

iθ

3

iθ

1

2

i

θ

2

3

i

θ

3

4

i

θ

4

α 2

A

rrrr 3

θ 3

θ 4

B
rrrr 4
B 0

2

3

4

ω 2

θ 2

2

2

i

θ

r

3

3

sen

2

3

3

3

+

r

4

4

i

θ

3

sen

4

4

4

= −

r

2

i

θ

4

2

sen

2

rrrr 2

A 0

r

3

ω cosθ

3

3

+

r

4

ω cosθ

4

4

= −

r

2

ω cosθ

2

2

rrrr 1

r
ω
3
3
r
3
3

3

3

4

4

4

2

2

θ
2

4

4

4

2

2

2

r

r

2

ω

2

sen

θ

2

2

ω

2

cos

θ

2

r

r sen

4

4

cos

θ

4

θ

4

ω

3

=

r sen

3

θ

3

r

3

cos

θ

3

r sen

4

θ

4

r

4

cos

θ

4

=

2

2

4

3

2

3

3

4

2

2

3

4

3

4

2

r
2

ω

2

sen

θ

2

r

4

cos

θ

4

+

r sen

4

θ

4

r

2

ω
2

cos

θ
2

r sen

3

θ

3

r

4

cos

θ

4

r sen

4

θ

4

r

3

cos

θ
3

2

V

2

=

d

g

2

2

= ig

λ

d

2

e

λ

i

2

P

2

2

dt

2

dt

2

2

2

P

2

V

P x

2

= −

V

P y

2

=

g

2

2

i (

θ

2

φ

+

2

g

2

2

sen (

2

2

2

cos(

2

)

+

2

+

2

)

iλ

A
P
2
α
hhhh 2 =g
2
2
ω
Y
2
φ
2
rrrr 2
θ 2
A 0
www.FisicaA.com

)

P 3
g 3
θ 4
B
φ 3
rrrr 3
θ 3
rrrr 4
hhhh 3
P
4
φ 4
g
4
hhhh 4
rrrr 1
X
B 0

V

P

3

=

d

g

3

dt

=

i

r

2

ω
2

e

i

θ

2

+

ig

3

ω
3

e

i (

θ
3

φ

+

3

)

V

P x

3

= −

r

2

ω

2

sen

θ

2

g

3

ω

3

sen (

θ

3

+

φ

3

)

V

P y

3

=

r

2

ω

2

cos

θ

2

+

g

3

ω

3

cos(

θ

3

+

φ

3

)

V

P

4

=

d g

4

d

r

1

=

dt

dt

+

ig

4

λ
4

d

dt

e

λ

i

4

=

ig

4

ω
4

e

λ

i

4

V

P x

4

= −

g

4

4

sen

(

4

4

+

180)

V

P y

4

= +

g

4

4

cos(

4

4

+

180)

P 3
g 3
θ 4
B
φ 3
rrrr 3
A
θ 3
rrrr 4
hhhh 3
P
4
φ 4
g
4
hhhh 4
rrrr 1
X
B 0

P 2

hhhh 2 =g 2

Y

α 2

ω

2

φ

2

rrrr 2

θ 2

A 0

• V i

=

ϕ

i

= a tan

• V iy

ir

2

d

2

dt

e

i

θ

2

+

ir

3

d

3

dt

e

i

θ

3

+

ir

4

d

4

dt

e

i

θ

4

=

0

r

2

  d

θ

2

dt

 

2

e

i

θ

2

r

3

  d

θ

3

dt

 

2

e

i

θ

3

r

4

  d

θ

4

dt

 

2

e

i

θ

4

+

ir

2

d

2

θ

2

dt

2

e

i

θ

2

+

ir

3

d

2

θ

3

dt

2

e

i

θ

3

+

ir

4

d

2

θ

4

dt

2

e

i

θ

4

= 0

2

2

2

i

θ

2

3

3

2

i

θ

3

4

4

2

i

θ

4

2

2

i

θ

2

3

3

i

θ

3

4

4

i

θ

4

r

3

α

3

sen

θ

3

r

4

α

4

sen

θ

4

=

r

2

ω

2

2

cos

θ

2

+

r

3

ω

3

2

cos

θ

3

+

r

4

ω

4

2

cos

θ

4

r

3

α

3

cos

θ

3

+

r

4

α

4

cos

θ

4

=

r

2

ω

2

2

sen

θ

2

+

r

3

ω

3

2

sen

θ

3

+

r

4

ω

4

2

sen

θ
4

+

r

2

α

2

sen

θ

2

r

2

α

2

cos

θ

2

2

cos

θ

2

2

2

cos

θ

3

+

r

4

ω

4

2

2

cos

θ

4

+

θ

2

r

2

ω

2

+

r

3

ω

3

2

r

2

α

2

sen

r sen

4

θ

4

r

2

ω

2

sen

θ

2

+

r

3

ω

3

sen

θ

3

+

r

4

ω

4

sen

θ

4

r

2

α

2

cos

θ

2

r

4

cos

θ

4

α

3

=

r sen

3

θ

3

r

3

cos

θ

3

r sen

4

θ

r

4

cos

θ

4

4

=

=

(

r

2

ω

2

2

cos

θ

2

+

r

3

ω

3

2

cos

θ

3

+

r

4

ω

4

2

cos

θ

4

+

r

2

α

2

sen

θ

2

)

r

4

cos

θ

4

+

+

r sen

4

θ

4

(

r

2

ω

2

2

r sen

3

θ

3

r

4

sen

θ

2

+

r

3

ω

cos

θ

4

+

r sen

4

θ

4

r

3

cos

θ

3

3

2

sen

θ

3

+

r

4

ω

4

2

sen

θ

4

r

2

α

2

cos

θ

2

)

=

=

r

2

ω

2

2

cos

θ

2

cos

r sen

3

θ

3

r

4

θ

4

+

r

3

ω

3

cos

θ

4

+

r sen

4

θ

4

r

3

cos

θ

3

2

cos

θ

3

cos

θ

4

+

r

4

ω

4

2

cos

2

θ

4

+

r

2

α

2

sen

θ

2

cos

θ

4

+

r

2

ω

2

2

sen

θ

2

sen

θ

4

+

r

3

ω

3

2

r sen (

3

θ

4

θ

3

)

sen

θ

3

sen

θ

4

+

r

4

ω

4

2

sen

2

θ

4

r

2

α

2

cos

θ

2

sen

θ

4

=

=

r

2

ω

2

2

cos(

θ

2

θ

4

)

+

r

3

ω

3

2

r sen (

3

θ

4

θ

3

)

cos(

θ

3

θ

4

)

+

r

4

ω

4

2

+

r

2

α

2

sen

(

θ

2

θ

4

)

=

=

r

2

ω

2

2

cos(

θ

2

θ

4

)

+

r

3

ω

3

2

r sen (

3

θ

4

θ

3

)

cos(

θ

3

θ

4

)

+

r

4

ω

4

2

α

2

r sen (

2

θ

2

θ

4

)

=

r sen (

3

θ

4

θ

3

)

r sen (

3

θ

3

θ

4

)

=

r

2

ω

2

2

cos(

θ

2

θ

4

)

+

r

3

ω

3

2

cos(

θ

3

θ

4

)

+

r

4

ω

4

2

+

α ω

2

3

r sen (

3

θ

4

θ

3

)

ω

2

+

3

3

2

2

2

2

2

θ
2

4

3

2

3

θ
3

4

4

2

4

3

3

4

4

4

2

α
2

r
2

2

2

θ
2

3

4

2

4

3

θ
4

3

2

3

4

3

θ
4

θ 4

B
rrrr 4
B 0

A

α 2

ω 2

rrrr 2

θ 2

rrrr 3

θ 3

A 0

rrrr 1

P

2

2

2

• i (

θ

2

φ

+

2

)

2

2

2

i (

θ

2

φ

+

2

)

A

P x

2

= −

g

2

2

sen

(

2

+

2

)

g

2

2

2

cos(

2

+

2

)

A

P y

2

=

g

2

2

cos(

2

+

2

)

g

2

2

2

sen

(

2

+

2

)

P 3
g 3
θ 4
B
φ 3
rrrr 3
A
θ 3
rrrr 4
hhhh 3
P
4
φ 4
g
4
hhhh 4
rrrr 1
X
B 0

P 2 hhhh 2 =g 2

Y

α 2

ω 2

φ

2

rrrr 2

θ 2

A

0

P

3

2

2

i

θ

2

2

2

2

i

θ

2

3

3

• i (

θ

3

φ

+

3

)

3

2

3

i (

θ

3

φ

+

3

)

A

P x

3

= −

r

2

(

α

2

sen

θ

2

+

2

ω

2

cos

θ

2

)

g

3

(

α

3

sen

(

θ

3

+

φ

3

)

+

2

ω

3

cos(

θ

3

+

φ

3

))

A

P y

3

=

r

2

(

α

2

cos

θ

2

2

ω

2

sen

θ

2

)

+

g

3

(

α

3

cos(

θ

3

+

φ

3

)

2

ω

3

sen

(

θ

3

+

φ

3

))

A

P

4

= ig

4

α
4

e

λ

i

4

g

4

2

4

e

λ

i

4

A

P 4 x

= −

g

4

4

sen

4

4

+

180

2

g

4

4

cos

A

P 4 y

= +

g

4

4

cos

4

4

+

180

2

g

4

4

sin

2
2
A
=
A
+ A
i
ix
iy
A
iy
ϕ
= a tan
i
A
ix

P 3
g 3
θ 4
B
φ 3
rrrr 3
A
θ 3
rrrr 4
hhhh 3
P
4
φ 4
g
4
hhhh 4
rrrr 1
X
B 0

4

4

+

180

4

4

+

180

P

2

hhhh 2 =g 2 Y

ω 2

φ 2

θ 2

A 0

α 2

rrrr 2