funciones

MatΩ[{x_, y_, z_}] := {{0, - z, y}, {z, 0, - x}, {- y, x, 0}}

Balanceo en un plano
datos
m1 = 100;
l1 = 0.2;
θ1 = 30 °;
m2 = 50;
l2 = 0.25;
θ2 = 125 °;
m3 = 150;
l3 = 0.175;
θ3 = 180 °;

centro de masa
Ec1 = m1 l1 {Cos[θ1], Sin[θ1], 0} + m2 l2 {Cos[θ2], Sin[θ2], 0} +
m3 l3 {Cos[θ3], Sin[θ3], 0} + m4l4 {Cos[θ4], Sin[θ4], 0}
{- 16.0992 + m4l4 Cos[θ4], 20.2394 + m4l4 Sin[θ4], 0.}

Ec1 // MatrixForm
- 16.0992 + m4l4 Cos[θ4]
20.2394 + m4l4 Sin[θ4]
0.

- 16.099197378699305` + m4l4 Cos[θ4]

20.2394005536124` + m4l4 Sin[θ4]
0.`
{- 16.0992 + m4l4 Cos[θ4], 20.2394 + m4l4 Sin[θ4], 0.}
2 Dinamica de Maquinaria Tarea 12 Balanceo.nb

Sol1 = Solve[Ec1 ⩵ {0, 0, 0}, {m4l4, θ4}]

m4l4Sol = m4l4 /. Sol1[[2]]
θ4Sol = θ4 /. Sol1[[2]]

Solve: Inverse functions are being used by Solve, so some solutions may not be found; use Reduce for complete solution
information.

{{m4l4 → - 25.8615, θ4 → 2.24275}, {m4l4 → 25.8615, θ4 → - 0.898843}}

25.8615

- 0.898843

m4l4Sol
m4 =
l4
25.8615
l4

Plot[m4, {l4, 0.2, 1}, AxesLabel → {"lBal", "mBal"}]

mBal

120

100

80

60

40

lBal
0.4 0.6 0.8 1.0

l4Sol = 0.25
m4Sol = m4 /. l4 → l4Sol
0.25

103.446

MTot = m1 + m2 + m3 + m4Sol
403.446
 Dinamica de Maquinaria Tarea 12 Balanceo.nb 3

representacion grafica
Masa1 = ParametricPlotl1 {Cos[θ1], Sin[θ1]} + r1 {Cos[θ], Sin[θ]},
m1
{θ, 0, 2 π}, r1, 0, , PlotStyle → Red
MTot
Masa2 = ParametricPlotl2 {Cos[θ2], Sin[θ2]} + r2 {Cos[θ], Sin[θ]},
m2
{θ, 0, 2 π}, r2, 0, , PlotStyle → Blue
MTot
Masa3 = ParametricPlotl3 {Cos[θ3], Sin[θ3]} + r3 {Cos[θ], Sin[θ]},
m3
{θ, 0, 2 π}, r3, 0, , PlotStyle → Green
MTot
Masa4 = ParametricPlotl4Sol {Cos[θ4Sol], Sin[θ4Sol]} + r4 {Cos[θ], Sin[θ]},
m4Sol
{θ, 0, 2 π}, r4, 0, , PlotStyle → Magenta
MTot

0.3

0.2

0.1

0.0

-0.1

-0.1 0.0 0.1 0.2 0.3 0.4

4 Dinamica de Maquinaria Tarea 12 Balanceo.nb

0.30

0.25

0.20

0.15

0.10

-0.25 -0.20 -0.15 -0.10 -0.05

0.4

0.2

0.0

-0.2

-0.4
-0.4 -0.2 0.0 0.2
 Dinamica de Maquinaria Tarea 12 Balanceo.nb 5

0.0

-0.1

-0.2

-0.3

-0.4

-0.1 0.0 0.1 0.2 0.3 0.4

ParametricPlotl4Sol {Cos[θ4Sol], Sin[θ4Sol]} + r4 {Cos[θ], Sin[θ]},

m4Sol
{θ, 0, 2 π}, r4, 0, , PlotStyle → Magenta
MTot

0.0

-0.1

-0.2

-0.3

-0.4

-0.1 0.0 0.1 0.2 0.3 0.4

6 Dinamica de Maquinaria Tarea 12 Balanceo.nb

Origen = Graphics[{Locator[{0, 0}]}];

Brazo1 = Graphics[
{Red, {Line[{{0, 0}, l1 {Cos[θ1], Sin[θ1]}}], Locator[l1 {Cos[θ1], Sin[θ1]}]}}];
Brazo2 = Graphics[
{Blue, {Line[{{0, 0}, l2 {Cos[θ2], Sin[θ2]}}], Locator[l2 {Cos[θ2], Sin[θ2]}]}}];
Brazo3 = Graphics[
{Green, {Line[{{0, 0}, l3 {Cos[θ3], Sin[θ3]}}], Locator[l3 {Cos[θ3], Sin[θ3]}]}}];
Brazo4 = Graphics[
{Magenta, {Line[{{0, 0}, l4 {Cos[θ4], Sin[θ4]}}], Locator[l4 {Cos[θ4], Sin[θ4]}]}}] /.
{l4 → l4Sol, θ4 → θ4Sol};

SistemaDesbalanceado =
Show[{Origen, Masa1, Brazo1, Masa2, Brazo2, Masa3, Brazo3}, PlotRange → All]
 Dinamica de Maquinaria Tarea 12 Balanceo.nb 7

SistemaBalanceado =
Show{Origen, Masa1, Brazo1, Masa2, Brazo2, Masa3, Brazo3, Masa4, Brazo4},
PlotRange → All, AxesLabel → θ4Sol  Degree "θBal=", "mBal=" m4Sol
"θBal=" θ4Sol  Degree, "mBal=" m4Sol

{- 51.4999 θBal=, 103.446 mBal=}

Balanceo en dos planos

Clear[ma, mb, m1, m2, m3, θ1, θ2, θ3, θaSol, θbSol]




Datos
m1 = 0.1;
r1 = 0.1(*1.35*);
θ1 = 45 °(*113.4º*);
z1 = 0.15(*0.845*);

m2 = 0.11(*1.8*);
r2 = 0.15(*0.822*);
θ2 = 270 °;
z2 = 0.4;

m3 = 0(*2.4*);
r3 = 0;
θ3 = 0;
z3 = 0;
8 Dinamica de Maquinaria Tarea 12 Balanceo.nb

Planos de balanceo
zaBal = 0;
raBal = 0.2;
zbBal = 0.55;
rbBal = 0.2;

Ecaciones
VectR10 = {r1 Cos[θ1], r1 Sin[θ1], z1}
VectR20 = {r2 Cos[θ2], r2 Sin[θ2], z2}
VectR30 = {r3 Cos[θ3], r3 Sin[θ3], z3}
{0.0707107, 0.0707107, 0.15}

{0., - 0.15, 0.4}

{0, 0, 0}

MTot = m1 + m2 + m3
0.21

m1
Masa1 = Graphics3DBlue, Opacity[0.9], Sphere{VectR10}, 
10 MTot
m2
Masa2 = Graphics3DMagenta, Opacity[0.9], Sphere{VectR20}, 
10 MTot
m3
Masa3 = Graphics3DGreen, Opacity[0.9], Sphere{VectR30}, 
10 MTot
Dinamica de Maquinaria Tarea 12 Balanceo.nb 9
10 Dinamica de Maquinaria Tarea 12 Balanceo.nb

Eje = Graphics3DGray, Tube{{0, 0, zaBal}, {0, 0, zbBal}}, Min[{r1, r2}]  10

 Dinamica de Maquinaria Tarea 12 Balanceo.nb 11

Barra1 = Graphics3D[{Tube[{{0, 0, VectR10[[3]]}, VectR10}, 0.025]}]

Barra2 = Graphics3D[{Tube[{{0, 0, VectR20[[3]]}, VectR20}, 0.025]}]
Barra3 = Graphics3D[{Tube[{{0, 0, VectR30[[3]]}, VectR30}, 0.025]}]
12 Dinamica de Maquinaria Tarea 12 Balanceo.nb

Show[{Barra1, Barra2, Barra3, Eje, Masa1, Masa2, Masa3}, Axes → True, PlotRange → All]
 Dinamica de Maquinaria Tarea 12 Balanceo.nb 13

VectRa0 = {ra Cos[θa], ra Sin[θa], zaBal}

VectRb0 = {rb Cos[θb], rb Sin[θb], zbBal}
{ra Cos[θa], ra Sin[θa], 0}

{rb Cos[θb], rb Sin[θb], 0.55}

L1p = - m1 ω ^ 2 VectR10 - {0, 0, VectR10[[3]]}

L2p = - m2 ω ^ 2 VectR20 - {0, 0, VectR20[[3]]}
L3p = - m3 ω ^ 2 VectR30 - {0, 0, VectR30[[3]]}
Lap = - ma ω ^ 2 VectRa0 - {0, 0, VectRa0[[3]]}
Lbp = - mb ω ^ 2 VectRb0 - {0, 0, VectRb0[[3]]}
- 0.00707107 ω2 , - 0.00707107 ω2 , 0.

0., 0.0165 ω2 , 0.

{0, 0, 0}

- ma ra ω2 Cos[θa], - ma ra ω2 Sin[θa], 0

- mb rb ω2 Cos[θb], - mb rb ω2 Sin[θb], 0.

ΣF = L1p + L2p + L3p + Lap + Lbp /. {ra → raBal, rb → rbBal}

0. - 0.00707107 ω2 - 0.2 ma ω2 Cos[θa] - 0.2 mb ω2 Cos[θb],
0.00942893 ω2 - 0.2 ma ω2 Sin[θa] - 0.2 mb ω2 Sin[θb], 0.

ΣMa = MatΩ[VectR10 - VectRa0].L1p +

MatΩ[VectR20 - VectRa0].L2p + MatΩ[VectR30 - VectRa0].L3p +
MatΩ[VectRb0 - VectRa0].Lbp + MatΩ[VectRa0 - VectRa0].Lap
ΣMb = MatΩ[VectR10 - VectRb0].L1p + MatΩ[VectR20 - VectRb0].L2p +
MatΩ[VectR30 - VectRb0].L3p +
MatΩ[VectRb0 - VectRb0].Lbp + MatΩ[VectRa0 - VectRb0].Lap
0. - 0.00553934 ω2 + 0.55 mb rb ω2 Sin[θb],
0. - 0.00106066 ω2 - 0.55 mb rb ω2 Cos[θb], 0. + 0.0165 ω2 0. - ra Cos[θa] -
0.00707107 ω2 0.0707107 - ra Cos[θa] - 0.00707107 ω2 - 0.0707107 + ra Sin[θa] -
mb rb ω2 - ra Cos[θa] + rb Cos[θb] Sin[θb] - mb rb ω2 Cos[θb] ra Sin[θa] - rb Sin[θb]

0. - 0.000353427 ω2 - 0.55 ma ra ω2 Sin[θa],

0. + 0.00282843 ω2 + 0.55 ma ra ω2 Cos[θa], 0. + 0.0165 ω2 0. - rb Cos[θb] -
0.00707107 ω2 0.0707107 - rb Cos[θb] - ma ra ω2 ra Cos[θa] - rb Cos[θb] Sin[θa] -
0.00707107 ω2 - 0.0707107 + rb Sin[θb] - ma ra ω2 Cos[θa] - ra Sin[θa] + rb Sin[θb]

ΣLp = L1p + L2p + L3p + Lap + Lbp

0. - 0.00707107 ω2 - ma ra ω2 Cos[θa] - mb rb ω2 Cos[θb],
0.00942893 ω2 - ma ra ω2 Sin[θa] - mb rb ω2 Sin[θb], 0.

ΣMa
// Simplify
ω^2
- 0.00553934 + 0.55 mb rb Sin[θb], - 0.00106066 - 0.55 mb rb Cos[θb],
ra - 0.00707107 - 1. mb rb Cos[θb] Sin[θa] + Cos[θa] - 0.00942893 + mb rb Sin[θb]
14 Dinamica de Maquinaria Tarea 12 Balanceo.nb

ΣMb
// Simplify
ω^2
- 0.000353427 - 0.55 ma ra Sin[θa], 0.00282843 + 0.55 ma ra Cos[θa],
rb Cos[θb] - 0.00942893 + ma ra Sin[θa] + - 0.00707107 - 1. ma ra Cos[θa] Sin[θb]

ΣLp ⩵ {0, 0, 0}
0. - 0.00707107 ω2 - ma ra ω2 Cos[θa] - mb rb ω2 Cos[θb],
0.00942893 ω2 - ma ra ω2 Sin[θa] - mb rb ω2 Sin[θb], 0. ⩵ {0, 0, 0}

Sol2 = Solve
ΣMb[[1]] ΣMb[[2]]
(* ΣMa[[1]] ⩵0, ΣMa[[2]] ⩵0,*) ⩵ 0, ⩵ 0(*, ΣMa[[3]] ⩵0, ΣMb[[3]] ⩵0*) /.
ω^2 ω^2 ω^2 ω^2
ω^2 ω^2
{ra → raBal, rb → rbBal, za → zaBal, zb → zbBal}, {ma, mb, θa, θb}

Solve: Inverse functions are being used by Solve, so some solutions may not be found; use Reduce for complete solution
information.

Solve: Equations may not give solutions for all "solve" variables.

{{ma → - 0.0259129, θa → 0.124311}, {ma → 0.0259129, θa → - 3.01728}}

Sol3 = Solve
ΣMa[[1]] ΣMa[[2]]
 ⩵ 0, ⩵ 0(*, ΣMb[[1]] ⩵0, ΣMb[[2]] ⩵0*)(*, ΣMa[[3]] ⩵0, ΣMb[[2]] ⩵0*) /.
ω^2 ω^2 ω^2 ω^2
ω^2 ω^2
{ra → raBal, rb → rbBal, za → zaBal, zb → zbBal}, {ma, mb, θa, θb}

Solve: Inverse functions are being used by Solve, so some solutions may not be found; use Reduce for complete solution
information.

Solve: Equations may not give solutions for all "solve" variables.

{{mb → - 0.0512725, θb → - 1.38161}, {mb → 0.0512725, θb → 1.75998}}

maSol1 = ma /. Sol2[[2]]
mbSol1 = mb /. Sol3[[2]]
θaSol1 = θa /. Sol2[[2]]
θbSol1 = θb /. Sol3[[2]]

0.0259129

0.0512725

- 3.01728

1.75998
 Dinamica de Maquinaria Tarea 12 Balanceo.nb 15

Representacion grafica
m1
Masa1 = Graphics3DBlue, Opacity[0.3], Sphere{VectR10}, 
10 MTot
m2
Masa2 = Graphics3DMagenta, Opacity[0.3], Sphere{VectR20}, 
10 MTot
m3
Masa3 = Graphics3DGreen, Opacity[0.3], Sphere{VectR30}, 
10 MTot
maSol1
MasaA = Graphics3DRed, Opacity[0.3], Sphere{VectRa0},  /. Sol2[[2]] /.
10 MTot
{ra → raBal, rb → rbBal}
mbSol1
MasaB = Graphics3DRed, Opacity[0.3], Sphere{VectRb0},  /. Sol3[[2]] /.
10 MTot
{ra → raBal, rb → rbBal}
16 Dinamica de Maquinaria Tarea 12 Balanceo.nb
Dinamica de Maquinaria Tarea 12 Balanceo.nb 17
18 Dinamica de Maquinaria Tarea 12 Balanceo.nb

VectRa0
VectRb0
{ra Cos[θa], ra Sin[θa], 0}

{rb Cos[θb], rb Sin[θb], 0.55}

Rim = Graphics3D[
{Gray, Opacity[0.1], {Cylinder[{{0, 0, VectRa0[[3]]}, {0, 0, VectRb0[[3]]}}, rbBal],
Cylinder[{{0, 0, VectRa0[[3]]}, {0, 0, VectRb0[[3]]}}, rbBal]}}] /. Sol2[[1]] /.
{ra → raBal, rb → rbBal}
 Dinamica de Maquinaria Tarea 12 Balanceo.nb 19

Show[{Barra1, Barra2, Barra3, Masa1, Masa2, Masa3, MasaA, MasaB, Eje, Rim},
Axes → True, PlotRange → All]

comprobacion
CentroMasa =
m1 VectR10 + m2 VectR20 + m3 VectR30 + maSol1 VectRa0 + mbSol1 VectRb0 /. Sol2[[2]] /.
Sol3[[2]] /. {ra → raBal, rb → rbBal}
- 1.51788 × 10-18 , 0., 0.0871999

ΣMa[[3]] /. Sol2[[2]] /. Sol3[[2]] /. {ra → raBal, rb → rbBal}

ΣMb[[3]] /. Sol2[[2]] /. Sol3[[2]] /. {ra → raBal, rb → rbBal}
ΣMa /. Sol2[[2]] /. Sol3[[2]] /. {ra → raBal, rb → rbBal} // Chop
ΣMb /. Sol2[[2]] /. Sol3[[2]] /. {ra → raBal, rb → rbBal} // Chop
0. - 8.67362 × 10-19 ω2

0. + 4.33681 × 10-19 ω2

{0, 0, 0}

{0, 0, 0}