DINAMICA DE MAQUINAS

ESTUDIANTE: CCARITA QQUESHUALLPA, Nicanor CODIGO: 124154

p3
r4 q4
q3

r5
T3
r3

p2
r6

p4
r2

T4
q2

T2
r1

r4

To4
r5
T3

r3

T4 T4
T2
r1

DATOS:
a=5; %longitud del eslabn L1
b=15; %longitud del eslabn L2
c=10; %longitud del eslabn L3
d=19; %longitud del eslabon bancada

r1=a/2;%sirven para hallar los centros de gravedad

r2=0;% cg en 2
r3=b/2*cos(45.*pi/180);% cg en 3
r4=b/2*sin(45.*pi/180);% cg en 3
r5=c/2;%en la misma barra 4
r6=0;

m2=0.004;%blobs
m3=0.020;%blobs
m4=0.05;%blobs
Ig2=0.4;%lb-pulg-s2
Ig3=0.55;%lb-pulg-s2
Ig4=0.8;%lb-pulg-s2
 DINAMICA DE MAQUINAS-INGENIERIA MECANICA
ESTUDIANTE: CCARITA QQUESHUALLPA,Nicanor CODIGO: 124154

CONFIGURACION DEL MECANISMO

%EXAMEN DINAMICA DE MAQUINAS 20/12/2016
clc,clear
clear% To4 torsion horia en el eslabon 4
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=5; %longitud del eslabn L1(1.5)

b=15; %longitud del eslabn L2(3)
c=10; %longitud del eslabn L3 dato(3)
d=19; %longitud del eslabon bancada (1)

r1=a/2;%sirven para hallar los centros de gravedad

r2=0;% cg en 2
r3=b/2*cos(45.*pi/180);% cg en 3
r4=b/2*sin(45.*pi/180);% cg en 3
r5=c/2;%en la misma barra 4
r6=0;

m2=0.004;%blobs
m3=0.020;%blobs
m4=0.05;%blobs
Ig2=0.4;%lb-pulg-s2
Ig3=0.55;%lb-pulg-s2
Ig4=0.8;%lb-pulg-s2

t1=0;
t2=0.*pi/180;%empezamos de cero para que el programa corra desde cero
t3=40.*pi/180; %arbitrario
t4=100.*pi/180; %arbitrario
w2=15.7080;% velocidad angular en el eslabon 2 DATO
alfa2=0;%aceleracin angular del eslabn 2 dato

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;
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);

%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

%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 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=-10;%lb-plg
F2=0;
F2x=0;
F2y=0;
F3=0; %lb
F3x=0;
F3y=0;
F4=0;
F4x=0;
F4y=0;
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,TO,T
s];

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;

disp (' t2*180/pi F21x F21y F21 F32x F32y F32 F43x F43y F43 F14x
F14y F14 Fsx Fsy Fs Ts TO ')
disp (AM)
T2=AM(:,1);
F21x=AM(:,2);
F21y=AM(:,3);
F21=AM(:,4);
F32x=AM(:,5);
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);

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
figure(14)
plot(T2*pi/180,TO,'r')
title('TO en funcion de tetha2')
xlabel('tetha2 en radianes')
ylabel('TO')
grid
disp (Fs)

RESULTADOS
t2*180/pi F21 (Lb) F21y (lb) F21 (lb) F32x (lb) F32y (lb) F32 (lb) F43x (lb) F43y (lb) F43 (lb) F14x (lb) F14y (lb) F14 (lb) Fsx Fsy Fs Ts (Lbf-plg) TO (Lbf-plg)
0 45.8293 35.9903 58.272 43.3619 35.9903 56.3521 22.9748 30.8893 38.4966 -9.3067 14.2933 17.0562 55.136 21.697 59.2515 -179.9516 179.9516
5 51.8339 41.7377 66.5491 49.3759 41.5226 64.5144 26.3069 34.2283 43.1698 -10.8399 19.7755 22.5516 62.6739 21.9622 66.4105 -185.3062 185.3062
10 56.7952 45.9352 73.0462 54.3653 45.5067 70.8975 29.0592 36.3262 46.5191 -11.7496 24.0954 26.8075 68.5449 21.8398 71.9401 -176.8747 176.8747
15 60.4192 48.581 77.528 58.0359 47.9423 75.277 31.0446 37.144 48.4092 -12.1292 26.9441 29.5483 72.5484 21.6369 75.7062 -156.4398 156.4398
20 62.5558 49.8172 79.9686 60.2372 48.9733 77.6331 32.1701 36.7688 48.8555 -12.0974 28.192 30.6779 74.6531 21.6252 77.7222 -127.0877 127.0877
25 63.2024 49.8815 80.5153 60.9662 48.8387 78.1159 32.4409 35.3792 48.0011 -11.766 27.8797 30.2608 74.9684 22.0018 78.1303 -92.4874 92.4874
30 62.4795 49.052 79.4341 60.3426 47.8182 76.9923 31.9447 33.2026 46.0746 -11.2205 26.1797 28.4829 73.7 22.8722 77.1675 -56.2025 56.2025
35 60.59 47.601 77.0519 58.5688 46.1858 74.5884 30.8239 30.4751 43.3456 -10.5121 23.3465 25.604 71.1021 24.2545 75.1251 -21.1975 21.1975
40 57.7765 45.7641 73.7053 55.8863 44.1781 71.2389 29.2459 27.4127 40.0846 -9.6617 19.6678 21.9128 67.4382 26.0963 72.3113 10.4033 -10.4033
45 54.2851 43.725 69.7047 52.5404 41.9803 67.252 27.3776 24.1949 36.5366 -8.6685 15.4272 17.6958 62.9535 28.2977 69.0211 37.3356 -37.3356
50 50.3403 41.6138 65.3135 48.7543 39.7236 62.8883 25.3676 20.9594 32.9061 -7.52 10.88 13.2259 57.8603 30.7338 65.5162 59.0704 -59.0704
55 46.1317 39.5132 60.7407 44.7165 37.492 58.3542 23.3374 17.8044 29.3536 -6.2013 6.2413 8.7983 52.3331 33.2719 62.0143 75.6254 -75.6254
60 41.8098 37.4682 56.142 40.5761 35.3314 53.8027 21.3782 14.795 25.9984 -4.7007 1.6836 4.9931 46.5105 35.7846 58.6836 87.3712 -87.3712
65 37.4872 35.4966 51.6266 36.4444 33.2604 49.3401 19.5527 11.9703 22.9259 -3.0134 -2.6602 4.0196 40.5006 38.1569 55.6439 94.8671 -94.8671
70 33.2437 33.5979 47.2648 32.3998 31.2793 45.0349 17.8985 9.3511 20.194 -1.1435 -6.6911 6.7881 34.3872 40.2889 52.9687 98.7387 -98.7387
75 29.1322 31.7605 43.0977 28.4936 29.3772 40.9256 16.4326 6.9454 17.8401 0.896 -10.3368 10.3756 28.2362 42.0973 50.6899 99.5966 -99.5966
80 25.1839 29.9674 39.1442 24.7554 27.5374 37.0289 15.1557 4.7535 15.8836 3.0828 -13.546 13.8923 22.1011 43.5133 48.8044 97.9875 -97.9875
85 21.4132 28.1993 35.408 21.1982 25.7412 33.3463 14.0547 2.7709 14.3253 5.3862 -16.2821 17.1498 16.0271 44.4813 47.2806 94.3702 -94.3702
90 17.8214 26.4372 31.883 17.8214 23.9697 29.8689 13.1058 0.991 13.1433 7.7668 -18.5187 20.0815 10.0545 44.9559 46.0665 89.1069 -89.1069
95 14.398 24.6634 28.5584 14.613 22.2053 26.5823 12.2749 -0.594 12.2892 10.1763 -20.2362 22.6509 4.2217 44.8996 45.0976 82.4638 -82.4638
100 11.1221 22.8621 25.424 11.5506 20.4322 23.471 11.5176 -1.9917 11.6885 12.556 -21.418 24.8271 -1.4339 44.2801 44.3033 74.6155 -74.6155
105 7.9616 21.0195 22.4768 8.6002 18.6362 20.5249 10.7781 -3.2095 11.2458 14.8352 -22.0484 26.5747 -6.8737 43.0679 43.613 65.6527 -65.6527
110 4.8709 19.1232 19.7338 5.7148 16.8046 17.7498 9.9864 -4.2546 10.855 16.928 -22.1104 27.8465 -12.0571 41.2336 42.9602 55.5885 -55.5885
115 1.7882 17.1615 17.2544 2.831 14.9253 15.1914 9.0546 -5.1341 10.4089 18.7286 -21.584 28.5767 -16.9403 38.7455 42.287 44.3672 -44.3672
120 -1.3701 15.1225 15.1844 -0.1364 12.9856 12.9864 7.8709 -5.8557 9.8102 20.1055 -20.445 28.6745 -21.4756 35.5675 41.5481 31.8735 -31.8735
125 -4.7151 12.9925 13.8216 -3.2998 10.9713 11.4568 6.2934 -6.4291 8.9967 20.8943 -18.6644 28.0166 -25.6094 31.6569 40.7185 17.9492 -17.9492
130 -8.392 10.7548 13.6415 -6.806 8.8646 11.176 4.1431 -6.8674 8.0204 20.8896 -16.2097 26.441 -29.2816 26.9644 39.8057 2.4217 -2.4217
135 -12.5856 8.3872 15.1242 -10.8409 6.6424 12.714 1.1988 -7.1899 7.2891 19.8388 -13.0492 23.7457 -32.4244 21.4364 38.8698 -14.8438 14.8438
140 -17.5182 5.8609 18.4727 -15.6281 4.2749 16.2022 -2.7999 -7.4258 7.9361 17.4438 -9.1618 19.7034 -34.962 15.0227 38.053 -33.8539 33.8539
145 -23.4327 3.14 23.6421 -21.4115 1.7247 21.4809 -8.1314 -7.6191 11.1432 13.3803 -4.5553 14.1345 -36.813 7.6953 37.6087 -54.3416 54.3416
150 -30.5434 0.184 30.5439 -28.4065 -1.0497 28.4259 -15.0362 -7.8327 16.954 7.3537 0.7029 7.3872 -37.8971 -0.5189 37.9006 -75.5616 75.5616
155 -38.9367 -3.0416 39.0553 -36.7004 -4.0843 36.927 -23.6046 -8.1502 24.972 -0.7863 6.4425 6.4903 -38.1504 -9.4841 39.3116 -96.0597 96.0597
160 -48.4129 -6.5437 48.8531 -46.0942 -7.3876 46.6825 -33.6003 -8.6664 34.6999 -10.8612 12.3435 16.4416 -37.5517 -18.8872 42.0339 -113.5361 113.5361
165 -58.304 -10.2661 59.2009 -55.9207 -10.9047 56.974 -44.2595 -9.4621 45.2597 -22.1461 17.9123 28.4833 -36.1579 -28.1783 45.8412 -125.0322 125.0322
170 -67.3873 -14.0497 68.8364 -64.9574 -14.4781 66.5514 -54.1966 -10.557 55.2153 -33.2496 22.5259 40.1616 -34.1378 -36.5756 50.0316 -127.6896 127.6896
175 -74.0743 -17.6195 76.1409 -71.6162 -17.8345 73.8035 -61.6131 -11.8622 62.7446 -42.2974 25.5779 49.4297 -31.7769 -43.1973 53.6263 -120.0422 120.0422
180 -76.9566 -20.6358 79.6753 -74.4892 -20.6358 77.2947 -64.9002 -13.17 66.223 -47.5266 26.6948 54.5105 -29.43 -47.3307 55.7343 -103.1792 103.1792
185 -75.472 -22.8162 78.8454 -73.014 -22.6012 76.432 -63.3764 -14.2178 64.9516 -48.0478 25.9038 54.5857 -27.4242 -48.7201 55.9082 -80.758 80.758
190 -70.2071 -24.0626 74.2162 -67.7772 -23.6341 71.7796 -57.6344 -14.8007 59.5045 -44.2446 23.6217 50.1555 -25.9625 -47.6844 54.2941 -57.5285 57.5285
195 -62.5801 -24.5021 67.2058 -60.1968 -23.8635 64.7543 -49.21 -14.8569 51.4038 -37.4956 20.468 42.7184 -25.0845 -44.9701 51.4932 -37.3514 37.3514
200 -54.1718 -24.4159 59.4199 -51.8532 -23.572 56.9596 -39.8541 -14.4675 42.3988 -29.4711 17.0335 34.0394 -24.7008 -41.4494 48.2512 -22.0779 22.0779
205 -46.1871 -24.1181 52.105 -43.9508 -23.0753 49.6402 -30.9339 -13.7928 33.8695 -21.5258 13.7379 25.5361 -24.6612 -37.8559 45.1802 -11.6944 11.6944
210 -39.2763 -23.8628 45.9572 -37.1395 -22.6291 43.4904 -23.2193 -12.9985 26.6101 -14.4599 10.805 18.051 -24.8164 -34.6678 42.6346 -5.1381 5.1381
215 -33.6296 -23.8094 41.2048 -31.6084 -22.3941 38.7374 -16.9704 -12.214 20.9088 -8.5812 8.3077 11.9438 -25.0484 -32.1171 40.73 -1.0718 1.0718
220 -29.1608 -24.0305 37.7864 -27.2706 -22.4444 35.3191 -12.1313 -11.5208 16.7301 -3.8818 6.2283 7.339 -25.2789 -30.2588 39.4286 1.6789 -1.6789
225 -25.6644 -24.5375 35.507 -23.9197 -22.7927 33.0403 -8.5 -10.9605 13.8702 -0.2011 4.5067 4.5112 -25.4633 -29.0442 38.6257 3.9843 -3.9843
 230 -22.9129 -25.3061 34.1379 -21.3268 -23.4159 31.6724 -5.8372 -10.5474 12.0548 2.6683 3.0697 4.0673 -25.5812 -28.3758 38.2045 6.4293 -6.4293
235 -20.7029 -26.2947 33.4667 -19.2877 -24.2735 31.0035 -3.9204 -10.2797 11.0019 4.9257 1.8454 5.26 -25.6286 -28.1401 38.0617 9.3841 -9.3841
240 -18.8714 -27.4558 33.3159 -17.6377 -25.319 30.8567 -2.5639 -10.1479 10.4667 6.7398 0.7695 6.7836 -25.6112 -28.2254 38.113 13.0758 -13.0758
245 -17.2954 -28.7418 33.5443 -16.2526 -26.5056 31.0917 -1.6218 -10.1385 10.2674 8.2447 -0.2139 8.2475 -25.5401 -28.5279 38.2902 17.6406 -17.6406
250 -15.8867 -30.1069 34.0414 -15.0428 -27.7883 31.5987 -0.9826 -10.2372 10.2842 9.5419 -1.1528 9.6113 -25.4286 -28.9542 38.5351 23.1573 -23.1573
255 -14.5847 -31.5079 34.7197 -13.9461 -29.1245 32.2913 -0.5631 -10.429 10.4442 10.7056 -2.0886 10.9074 -25.2903 -29.4193 38.7955 29.6644 -29.6644
260 -13.349 -32.9022 35.5071 -12.9206 -30.4723 33.0984 -0.3017 -10.6984 10.7027 11.7873 -3.0572 12.1773 -25.1363 -29.845 39.02 37.1641 -37.1641
265 -12.1546 -34.247 36.3399 -11.9395 -31.789 33.9572 -0.1524 -11.0281 11.0292 12.8193 -4.0899 13.4559 -24.9738 -30.1571 39.1554 45.6174 -45.6174
270 -10.9862 -35.4963 37.1575 -10.9862 -33.0288 34.8081 -0.081 -11.398 11.3983 13.817 -5.2131 14.7677 -24.8032 -30.2832 39.1442 54.9309 -54.9309
275 -9.8348 -36.5983 37.8967 -10.0499 -34.1403 35.5887 -0.0611 -11.7831 11.7833 14.7803 -6.4471 16.1251 -24.6151 -30.1512 38.923 64.9359 -64.9359
280 -8.6938 -37.493 38.4878 -9.1223 -35.0631 36.2303 -0.0716 -12.1516 12.1518 15.6931 -7.8045 17.5267 -24.387 -29.6886 38.4205 75.3618 -75.3618
285 -7.5551 -38.1088 38.8505 -8.1937 -35.7255 36.6531 -0.0937 -12.4623 12.4626 16.5239 -9.2866 18.9547 -24.079 -28.8222 37.5569 85.8049 -85.8049
290 -6.4052 -38.3599 38.891 -7.2491 -36.0413 36.7631 -0.1088 -12.6621 12.6626 17.2244 -10.8789 20.3723 -23.6296 -27.4811 36.2432 95.694 -95.694
295 -5.221 -38.1443 38.5 -6.2637 -35.9081 36.4503 -0.0958 -12.6839 12.6843 17.7302 -12.5448 21.7194 -22.9512 -25.5995 34.3816 104.2614 -104.2614
300 -3.968 -37.3756 37.5856 -5.2017 -35.2388 35.6206 -0.0329 -12.4673 12.4674 17.9721 -14.2229 22.9191 -21.9401 -23.1527 31.8969 110.6208 -110.6208
305 -2.5791 -35.8249 35.9176 -3.9943 -33.8037 34.0389 0.129 -11.8458 11.8465 17.8324 -15.8018 23.8263 -20.4115 -20.0231 28.5929 113.3049 -113.3049
310 -0.9838 -33.4487 33.4632 -2.5698 -31.5586 31.663 0.4224 -10.7764 10.7847 17.2484 -17.1516 24.3246 -18.2322 -16.2971 24.4542 111.2703 -111.2703
315 0.9269 -30.0807 30.095 -0.8178 -28.336 28.3478 0.9122 -9.1209 9.1664 16.1292 -18.0877 24.2346 -15.2024 -11.993 19.3635 103.0742 -103.0742
320 3.281 -25.6117 25.821 1.3908 -24.0256 24.0659 1.6726 -6.7724 6.9759 14.4199 -18.3962 23.3742 -11.139 -7.2155 13.2718 87.5535 -87.5535
325 6.2187 -19.9839 20.9291 4.1975 -18.5687 19.0372 2.7877 -3.6527 4.5949 12.1104 -17.8501 21.5705 -5.8917 -2.1338 6.2662 64.0149 -64.0149
330 9.8733 -13.2213 16.501 7.7364 -11.9876 14.2672 4.342 0.2631 4.35 9.2527 -16.2421 18.6927 0.6206 3.0208 3.0839 32.5666 -32.5666
335 14.342 -5.4568 15.345 12.1057 -4.414 12.8853 6.4038 4.9207 8.076 5.9702 -13.4287 14.696 8.3718 7.972 11.5602 -5.5784 5.5784
340 19.6504 3.051 19.8858 17.3318 3.8949 17.764 9.0032 10.1668 13.5802 2.4541 -9.3801 9.6958 17.1963 12.4311 21.2189 -47.9392 47.9392
345 25.7184 11.9229 28.3477 23.335 12.5615 26.5012 12.1087 15.745 19.8627 -1.0582 -4.2201 4.3507 26.7765 16.143 31.2662 -90.8651 90.8651
350 32.339 20.6922 38.3924 29.909 21.1206 36.6146 15.6102 21.3132 26.4184 -4.3193 1.7569 4.6629 36.6582 18.9353 41.2598 -129.967 129.967
355 39.1821 28.8641 48.6659 36.724 29.0791 46.8428 19.3166 26.4851 32.781 -7.116 8.1064 10.7867 46.2981 20.7577 50.7385 -160.8458 160.8458
360 45.8291 35.9901 58.2717 43.3617 35.9901 56.3518 22.9747 30.8891 38.4964 -9.3067 14.293 17.0559 55.1358 21.6971 59.2513 -179.9505 179.9505

TORQUE EN EL ESLABON 4 (To4) EN SENTIDO HORARIO

r4 r4
r5
T3

To4

r5
T3
r3
r3

r6

T4 T4
T2

T2
r1
 F12x y F12y en funcion de tetha2
GRAFICAS F12y en funcion de F12x
80 40

60 30

40 20

10
20
F12x y F12y

F12y
0
-10
-20
-20
-40
-30

-60
-40

-80
0 50 100 150 200 250 300 350 400 -50
-80 -60 -40 -20 0 20 40 60 80
tetha2 en grados
F12x

F43x y F43y en funcion de tetha2

F32x y F32y en funcion de tetha2 40
80

60 20

40
0
20
F43x y F43y
F32x y F32y

-20
0

-20
-40

-40
-60
-60

-80 -80
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
tetha2 en grados tetha2 en grados

F14x y F14y en funcion de tetha2 F14y en funcion de F14x

30 30

20
20

10

10
0
F14x y F14y

F14y

-10 0

-20
-10

-30

-20
-40

-50 -30
0 50 100 150 200 250 300 350 400 -50 -40 -30 -20 -10 0 10 20 30
tetha2 en grados F14x

Fsx en funcion de tetha2 Fsy en funcion de tetha2

80 50

40
60
30

20
40
10
Fsy
Fsx

20 0

-10
0
-20

-30
-20
-40

-40 -50
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
tetha2 tetha2
 Fs en funcion de tetha2 Fsy en funcion de Fsx
80 50

40
70
30
60
20

50 10

Fsy
0
Fs

40

-10
30
-20
20
-30

10 -40

-50
0 -40 -20 0 20 40 60 80
0 50 100 150 200 250 300 350 400
Fsx
tetha2

Ts en funcion de tetha2 F21,F32,F43 y F14 en funcion de tetha2

150 90

80
100

70
50
60

0 F21,F32,F43 y F14
50
Ts

-50 40

30
-100

20
-150
10

-200 0
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
tetha2 tetha2 en grados

TO y Ts en funcion de tetha2
200

150

100

50
TO y Ts

-50

-100

-150

-200
0 50 100 150 200 250 300 350 400
tetha2 en grados
 TO en funcion de tetha2
200

150

100

50
TO

-50

-100

-150
0 1 2 3 4 5 6 7
tetha2 en radianes

HALLANDO AREAS CON METODO SIMPSON:

function I = simpson3M(f,a,b,N)
% -- Determina la integral definida de la funcion f(x) en el intervalo[a,b]
% por el metodo de SIMPSON 1/3 de aplicacion multiple --
% Datos:
% f : la funcion a integrar f(x)
% a : limite inferior de integracin
% b : limite superior de integracin
% N : Numero de subintervalos, N>=2 (par)
% Resultado:
% I : Valor aproximado de la Integral definida de f(x) de a hacia b.(area
% bajo la curva)

h =(b-a)/N;
Sp = 0;
for i=2:2:(N-2)
x = a + i*h;
Sp = Sp + feval(f,x);
end
Si = 0;
for i=1:2:(N-1)
x = a + i*h;
Si = Si + feval(f,x);
end
I = (feval(f,a) + 4*Si + 2*Sp + feval(f,b))* h/3;
AJUSTANDO LA CURVA:

CURVA AJUSTADA:
y = p1*x^10 + p2*x^9 + p3 = -28.092
p3*x^8 + p4*x^7 + p4 = 193.29
p5*x^6 + p6*x^5 + p5 = -804.93
p7*x^4 + p8*x^3 + p6 = 2111.4
p9*x^2 + p10*x + p7 = -3555.9
p11 p8 = 3818.5
Coefficients: p9 = -2280
p1 = -0.076153 p10 = 287.39
p2 = 2.2504 p11 = 179.6

y =-0.076153*x^10+2.2504*x^9-28.092*x^8+193.29*x^7-804.93*x^6+2111.4*x^5-
3555.9*x^4+3818.5*x^3-2280*x^2+287.39*x+179.6

soluciones de y:
en x: 0.67, 2.28, 3.79, 5.83, 6.28

COMPROBANDO CON AUTOCAD PARA EL INTERVALO [0-0.67]

 Area bajo la curva TO en funcion T2
Para hallar el area de la curva ya sea positiva o negativa se hara el uso de autocad,una herramienta que facilta hallar
dicha area con los datos obtenidos en el programa de matlab, es decir se exportaralos puntos tabulados el par
ordenado (T2, TO), donde el angulo T2 estara en radianes y torque del motor TO en lbf-plg.

Y(lb-plg 10^2)

X(rad)

Area positiva: 2.1845 *10^2 Lb-plg-rad

Area negativa: 2.1846 *10^2 Lb-plg-rad

OBSERVACIONES:
1. Las reas positivas significan o dan a entender que el valor del torque de entrada (TO) est en sentido de la velocidad
angular del eslabn de entrada(eslabn 2), es el verdadero torque del motor que se requiere para mover el mecanismo,
es decir vencer las inercias de todos los eslabones(elementos que almacenaran temporalmente la energa cinetica) y la
carga sobre ellos.
2. En cambio las reas negativas dan a entender que el valor del torque de entrada (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(recupera la energa cinetica
almacenada temporalmente) y tiende a embalarse desde una cierta posicin tetha2.
3. En resumen: Las grandes variaciones del par son evidencia de la energa cintica almacenada en los eslabones al
moverse. Podra pensarse que los pulsos positivos del par de torsin representan la energa suministrada por el
impulsor (motor) y guardada temporalmente en los eslabones mviles y los pulsos negativos del par de torsin
representan la energa que intenta regresar de los eslabones al impulsor. Desafortunadamente, la mayora de los
motores se disean para suministrar energa, mas no para devolverla. Por tanto, la energa regresada no tiene adonde
ir.