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Diseñe un mecanismo de cuatro barras para mover el objeto por sus tres posiciones en su
orden numerado mediante pivotes fijos.
Para el pivote O2
R1x= 330
R1y=300
R1 = 445.982
R2x=751
R2y=1263
R2= 1.469x 10^3
R3x=514
R3y=1.7x 10^3
R3 = 1.776 x 10^3
ζ 1 = 42.27
ζ 2 = 59.26
ζ3 = 73.17
Hallamos β2 y β3:
C1 = 921.8695
C2 = 953.6586
C3 =-802.2988
C4 = 1379.7
C5 = -592.9547
C6 = 845.5275
A1 = -2.4925*10^6
A2 = 1.278901039653426e+05
A3= -1.625412428424902e+06
A4= 4.883705985783216e+05
A5= -1.278901039653426e+05
A6= -2.036328954831268e+06
K1= 3.372332158170032e+12
K2= -5.333773188655043e+11
K3= -4.153597047804312e+11
𝛽31 = 88°
𝛽32 = −105.97°
𝛽3 = 𝛽32
𝛽21 = 53.97°
𝛽22 = −53.97°
𝛽2 = 𝛽22
Para el pivote O4
R1x= -175
R1y= 280
R1 = 329.66
R2x= 247
R2y= 1243
R2= 1267.30
R3x= 10
R3y= 1680
R3 = 1680.03
Hallamos 𝛾3 y 𝛾2
C1 = 4.798251959263433e+02
C2 = 1.211202256968619e+03
C3 = -2.959015713141192e+02
C4 = 1.844122168429133e+03
C5 = -5.291514361775770e+02
C6 = 1.072509372727428e+03
A1= -3.488344311997934e+06
A2= 6.584626852720173e+05
A3= -2.134415051522742e+06
A4= 5.264596297624000e+05
A5= -6.584626852720173e+05
A6= -2.375585961957941e+06
K1= 5.417140454889822e+12
K2= 4.405513538213774e+11
K3= 6.293384572823389e+11
𝛾31 = 88°
𝛾32 = −78.70°
𝛾3 = 𝛾32 = −78.70°
𝛾21 = 51.99°
𝛾22 = −51.99°
𝛾2 = 𝛾22 = −51.99°
Tomar: 𝛽2 = −53.97° 𝛽3 = −105.97°, 𝛾2 = −51.99°, 𝛾3 = −78.70°
Solución:
Tenemos como datos:
𝛽2 = −53.97°
𝛽3 = −105.97°
𝛾2 = −51.99°
𝛾3 = −78.70°
Definimos en el punto P1 el origen de coordenadas, con ello podemos determinar 𝑃21 ,
𝑃31 , 𝛿2 y 𝛿3 :
𝑃1 = (0, 0)
𝑃2 = (421, 963)
𝑃3 = (184, 1400 )
𝑃21 = √4212 + 9632 = 1051.004
𝑃31 = √1842 + 14002 = 1412.039
𝛿2 = tan−1 (963/421) = 66.386°
𝛿3 = tan−1 (1400/184) = 82.513°
Además, podemos notar por la gráfica que: 𝛼2 = 27° , 𝛼3 = 88°.
Primero resolveremos la diada ZW:
A=cos(𝛽2 ) − 1 = − 0.411 B=sin(𝛽2 )= − 0.808 C=cos(𝛼2 ) − 1 = − 0.109
𝐴 −𝐵 𝐶 −𝐷 𝑊1𝑥 𝐸
𝐹 −𝐺 𝐻 −𝐾 𝑊1𝑦 𝐿
[ ] =[ ]
𝐵 𝐴 𝐷 𝐶 𝑍1𝑥 𝑀
𝐺 𝐹 𝐾 𝐻 [ 𝑍1𝑦 ] 𝑁
𝐴 −𝐵 𝐶 −𝐷 𝑈1𝑥 𝐸
𝐹 −𝐺 𝐻 −𝐾 𝑈1𝑦 𝐿
[ ] =[ ]
𝐵 𝐴 𝐷 𝐶 𝑆1𝑥 𝑀
𝐺 𝐹 𝐾 𝐻 [ 𝑆1𝑦 ] 𝑁