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𝑚𝑎 2 0.360𝑘𝑔
𝐼𝑎𝑥 = (𝑎 + 𝑏 2 ) = (642 + 382 ) 𝐼𝑎𝑥 = 1.664 × 10−4 𝐾𝑔 ∙ 𝑚2
12 12
𝑚𝑎 2 0.360𝑘𝑔
𝐼𝑎𝑦 = (𝑎 + 𝑐 2 ) = (642 + 192 ) 𝐼𝑎𝑦 = 1.339 × 10−4 𝐾𝑔 ∙ 𝑚2
12 12
𝑚𝑎 2 0.360𝑘𝑔
𝐼𝑎𝑧 = (𝑏 + 𝑐 2 ) = (382 + 192 ) 𝐼𝑎𝑧 = 5.421 × 10−5 𝐾𝑔 ∙ 𝑚2
12 12
Para el cilindro:
𝑚𝑏 ∙ 𝑟 2 (−0.012𝑘𝑔)(52 )
𝐼𝑏𝑥 = = 𝐼𝑏𝑥 = −1.455 × 10−7 𝐾𝑔 ∙ 𝑚2
2 2
𝑚𝑏 −0.012𝑘𝑔
𝐼𝑏𝑦 = (3𝑟 2 + 𝑐 2 ) = (3 ∗ 52 ) + (192 ) 𝐼𝑏𝑦 = −4.229 × 10−7 𝐾𝑔 ∙ 𝑚2
12 12
𝑚𝑏 −0.012𝑘𝑔
𝐼𝑏𝑧 = (3𝑟 2 + 𝑐 2 ) = (3 ∗ 52 ) + (192 ) 𝐼𝑏𝑦 = −4.229 × 10−7 𝐾𝑔 ∙ 𝑚2
12 12
𝑐 2
𝐼𝑦𝑦1 = 𝐼𝑎𝑦 + 𝑚𝑎 [(𝑋𝐶𝐺1 )2 + (𝑍𝐶𝐺1 )2 ] + 2 (𝐼𝑏𝑦 + 𝑚𝑏 ∙ ( ) )
2
4 𝑏 3 − 𝑎3 4 323 − 133
𝑋𝑐𝑔2 = 𝑒 − ∙ 2 = 32 − ∙ [𝑚𝑚] 𝑋𝑐𝑔2 = 16.825 𝑚𝑚
3𝜋 𝑏 − 𝑎2 3𝜋 322 − 132
4 𝑏 3 − 𝑎3 4 323 − 133
𝑌𝑐𝑔2 = 𝑑 − ∙ 2 = 18 − ∙ [𝑚𝑚] 𝑌𝑐𝑔2 = 33.175 𝑚𝑚
3𝜋 𝑏 − 𝑎2 3𝜋 322 − 132
𝑍𝑐𝑔2 = 0 𝑚𝑚
𝜋 ∙ 𝑏 2 ∙ 𝑐 − 𝜋 ∙ 𝑎2 ∙ 𝑐 𝜋 ∙ 322 ∙ 64 − 𝜋 ∙ 132 ∙ 64
𝑉2 = = 𝑉2 = 4.298 × 104 𝑚𝑚3
4 4
Determine los momentos de masa sobre los ejes locales señalados en el dibujo del segmento.
𝑀2 0.335𝑘𝑔
𝐼𝑥 = (3𝑎2 + 3𝑏 2 + 𝑐 2 ) = (3(0.0132 ) + 3(0.0322 ) + 0.0642 )
12 12
𝐼𝑥 = 2.144 × 10−4 𝐾𝑔 ∙ 𝑚2
𝑀2 0.335𝑘𝑔
𝐼𝑦 = (3𝑎2 + 3𝑏 2 + 𝑐 2 ) = (3(0.0132 ) + 3(0.0322 ) + 0.0642 )
12 12
𝐼𝑥 = 2.144 × 10−4 𝐾𝑔 ∙ 𝑚2
𝑀2 2 0.335𝑘𝑔
𝐼𝑧 = (𝑎 + 𝑏 2 ) = (0.0132 + 0.0322 )
12 12
𝐼𝑥 = 2 × 10−4 𝐾𝑔 ∙ 𝑚2
𝐼𝑥𝑥2 = 𝐼𝑥 + 𝑀2 ∙ 𝑑2
= 2.144 × 10−4 𝐾𝑔 ∙ 𝑚2
+ 0.335𝑘𝑔 ∗ 0.018𝑚
𝐼𝑥𝑥2 = 3.23 × 10−4 𝐾𝑔 ∙ 𝑚2
𝐼𝑦𝑦2 = 𝐼𝑎𝑥 + 𝑀2 ∙ 𝑒 2 𝐼𝑦𝑦2 = 4.771 × 10−4 𝐾𝑔 ∙ 𝑚2
𝐼𝑧𝑧2 = 𝐼𝑎𝑧 + 𝑀2 ∙ (𝑑2 + 𝑒 2 ) 𝐼𝑧𝑧2 = 5.061 × 10−4 𝐾𝑔 ∙ 𝑚2
Determinamos los momentos de masa sobre lo ejes locales a través de los centros de gravedad.
𝑀3 2 0.360𝑘𝑔
𝐼𝑥 = (𝑎 + 𝑏 2 ) = (642 + 192 ) 𝐼𝑥 = 1.339 × 10−4 𝐾𝑔 ∙ 𝑚2
12 12
𝑀3 2 0.360𝑘𝑔
𝐼𝑦 = (𝑎 + 𝑐 2 ) = (642 + 382 ) 𝐼𝑥 = 1.664 × 10−4 𝐾𝑔 ∙ 𝑚2
12 12
𝑀3 2 0.360𝑘𝑔
𝐼𝑧 = (𝑏 + 𝑐 2 ) = (192 + 382 ) 𝐼𝑧 = 5.421 × 10−5 𝐾𝑔 ∙ 𝑚2
12 12
Determine los momentos de masa sobre los ejes locales del segmento.
𝑀4 0.238𝑘𝑔
𝐼𝑥 = (3𝑟 2 + 𝑎2 ) = (3 ∗ 0.0322 + 0.0192 ) 𝐼𝑥 = 6.82 × 10−5 𝐾𝑔 ∙ 𝑚2
12 12
𝑀4 2 0.238 𝑘𝑔
𝐼𝑦 = ∙𝑟 = ∗ 0.0322 𝐼𝑥 = 1.221 × 10−4 𝐾𝑔 ∙ 𝑚2
2 2
𝑀4 0.238𝑘𝑔
𝐼𝑧 = (3𝑟 2 + 𝑎2 ) = (3 ∗ 0.0322 + 0.0192 ) 𝐼𝑧 = 6.82 × 10−5 𝐾𝑔 ∙ 𝑚2
12 12
𝑎 = 70 𝑚𝑚
𝑏 = 40.5 𝑚𝑚
𝑐 = 19 𝑚𝑚
𝑑 = 𝑟𝑎𝑑𝑖𝑜 = 13 𝑚𝑚
𝑋𝑐𝑔5 = 𝑎 𝑋𝑐𝑔5 = 70 𝑚𝑚
𝑌𝑐𝑔5 = 𝑏 𝑌𝑐𝑔5 = 40.5 𝑚𝑚
𝑍𝑐𝑔5 = 0
Determine los momentos de masa sobre los ejes locales del segmento.
𝑀5 −0.079𝑘𝑔
𝐼𝑥 = (3𝑟 2 + 𝑐 2 ) = (3 ∗ 0.0132 + 0.0192 )
12 12
𝐼𝑥 = −5.691 × 10−6 𝐾𝑔 ∙ 𝑚2
𝑀5 2 −0.079𝑘𝑔
𝐼𝑦 = 𝑟 = (0.0132 ) 𝐼𝑥 = −6.649 × 10−6 𝐾𝑔 ∙ 𝑚2
2 2
𝑀5 −0.079𝑘𝑔
𝐼𝑧 = (3𝑟 2 + 𝑐 2 ) = (3 ∗ 0.0132 + 0.0192 ) 𝐼𝑥 = −5.691 × 10−6 𝐾𝑔 ∙ 𝑚2
12 12
∑𝑖 𝑋𝑐𝑔𝑖 ∙ 𝑀𝑖
𝑋𝑐𝑔 =
∑𝑖 𝑀𝑖
(9.5 𝑚𝑚 ∗ 0.337𝑘𝑔) + (16.825 𝑚𝑚 ∗ 0.335 𝐾𝑔) + (51 𝑚𝑚 ∗ 0.360𝑘𝑔) + (83.581 𝑚𝑚 ∗ 0.238𝑘𝑔) +
(70𝑚𝑚 ∗ −0.079 𝐾𝑔)
=
(0.337 + 0.335 + 0.360 + 0.238 + (−0.079)[𝑘𝑔]
𝑋𝑐𝑔 = 34.919 𝑚𝑚
∑𝑖 𝑌𝑐𝑔𝑖 ∙ 𝑀𝑖
𝑌𝑐𝑔 =
∑𝑖 𝑀𝑖
((−1.069 𝑚𝑚) ∗ 0.337𝑘𝑔) + (33.175 𝑚𝑚 ∗ 0.335 𝐾𝑔) + (40.5 𝑚𝑚 ∗ 0.360𝑘𝑔) + (40.5 𝑚𝑚 ∗ 0.238𝑘𝑔) +
(40.5𝑚𝑚 ∗ −0.079 𝐾𝑔)
=
(0.337 + 0.335 + 0.360 + 0.238 + (−0.079)[𝑘𝑔]
𝑌𝑐𝑔 = 26.688 𝑚𝑚
∑𝑖 𝑍𝑐𝑔𝑖 ∙ 𝑀𝑖
𝑍𝑐𝑔 =
∑𝑖 𝑀𝑖
(0𝑚𝑚) ∗ 0.337𝑘𝑔) + (0 𝑚𝑚 ∗ 0.335 𝐾𝑔) + (0𝑚𝑚 ∗ 0.360𝑘𝑔) + (0 𝑚𝑚 ∗ 0.238𝑘𝑔) +
(0 𝑚𝑚 ∗ −0.079 𝐾𝑔)
=
(0.337 + 0.335 + 0.360 + 0.238 + (−0.079)[𝑘𝑔]
𝑍𝑐𝑔 = 0
b) Encontrar su momento de masa de inercia 𝐼𝑥𝑥 sobre el eje X a través del punto B.
𝐼𝑥𝑥 = ∑ 𝐼𝑥𝑥𝑖
𝑖
𝐼𝑥𝑥 = 1.581 × 10−4 𝐾𝑔 ∙ 𝑚2 + 3.23 × 10−4 𝐾𝑔 ∙ 𝑚2 + 7.25 × 10−4 𝐾𝑔 ∙ 𝑚2 + 4.592 × 10−4 𝐾𝑔 ∙ 𝑚2
+ (−1.348 × 10−4 𝐾𝑔 ∙ 𝑚2 )
𝐼𝑥𝑥 = 1.531 × 10−3 𝐾𝑔 ∙ 𝑚2
c) Encontrar su momento de masa de inercia 𝐼𝑦𝑦 sobre el eje a través del punto B.
𝐼𝑦𝑦 = ∑ 𝐼𝑦𝑦𝑖 =
𝑖
𝐼𝑦𝑦 = 1.634 × 10−4 𝐾𝑔 ∙ 𝑚2 + 4.771 × 10−4 𝐾𝑔 ∙ 𝑚2 + 1.104 × 10−3 𝐾𝑔 ∙ 𝑚2 + 1.787 × 10−3 𝐾𝑔 ∙ 𝑚2
+ (−3.922 × 10−4 𝐾𝑔 ∙ 𝑚2 )
Mecanismo simulado
teniendo:
Datos iniciales:
(A - B) a:= 0.80·in (B - C) b := l.23·in
(C - D) c:=1.55·in (A - D) d := 2.40·in
Link 2 angle: 82 := 49·deg
Distancia desde el punto de fuerza hasta el perno D:
Solucion:
1. Lo que vamos a hacer es introducir los valores que anteriormente pudimos identificar en una tabla que se
programó en Excel 2013 para determinar los enlaces 3 y 4 junto con sus ángulos así como calcular el ángulo de
la fuerza de prensado con respecto al marco de coordenadas
𝜃3 := 34.039·deg 𝜃3 := 123.518·deg
R34x = --0.428 in
R14y := Rcc4·sin(e4)
R34y = 0.646 in
Rux := Rcc4·cos(e4 + 180·deg)
R¡4x = 0.428 in
R14y := Rcc4·sin(04 + 180·deg)
R14y = --0.646 in
Rny := (Rn + RcG2)·sin(e2 + 180·deg)
Rny = -3.517 in
Rnx := (Rn + RcG2)·cos(e2 + 180-deg) Rnx = -3.057 in
5. Sustituir estos valores dados y calculados en la ecuación matricial modificado términos de masa e inercia
O o O o o o 1 o
O o O o o o o 1
-R12y R¡2x -R32y R32x Rnx -Rny
o o o o
in in in in in in
o o -1 o o o o o o
o o o -1 o o o o o
R13y -R23x -R43y R43x
C·- o o o o o o
in in in in
o o o o -1 o o o o
o o o o o -1 o o o
o o o o R34y -R34x -R14y Rux
o o
in in in in
o o o o o o o o lan(02 + ) -1
o
o
o
o
o
o -1
F .- R:=C ·F
-1
-FP4x·lbf
-1
-FP4y-lbf
-1 -1
(-RP4x·FP4y + RP4y-FP4x )·lbf ·in
F12x := Rt"lbf F12x = 1029 lbf F12y := Rf lbf F12y = 757 lbf
F 14x := Ri lbf Fux = 598 lbf F14y := R 8 ·lbf Fuy = 382 lbf