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QUIZ DE MECANISMOS CALCULO DE POSICION, ACELERACION Y VELOCIDAD

LINK 1 = 11 LINK 2 = 7 LINK 3 = 5 GAMMA = 35 THETA 2 = 70 W2 = -50 ALPHA 2 = 5

CÁLCULOS DE POSICIÓN

a -b
EQUIVALENCIA DE EULER
( ) ( ) ( ) ( )=0

PARTE REAL
( ) ( ) ( ) ( )
( ) ( ) ( )
PARTE IMAGINARIA
( ) ( ) ( ) ( )
( ) ( ) ( )

DESPEJAMOS C EN PARTE IMAGINARIA


( ) ( ) 1
( )

REEMPLAZAMOS 1 EN LA PARTE REAL


( ) ( )
( ) ( ) ( )( )
( )

REEMPLAZAMOS por
( ) ( )
( ) ( ) ( )( )
( )

( ) ( ) ( ) ( ) ( ( ) ( )( ))
( )

APLICAMOS LA SUMA Y DIFERENCIA DE ANGULOS


( )
( )
( ) ( ) ( ) ( ) ( ( )
( )( )) ( )

( )

( )

= 7 cos 70 – 11 = -8,6058
= 7 sin 70 = 6,5778
= 2*5 sin 35 = 5,7357
IDENTIDADES SEMEJANTES

( ) ( )
( ) ( )
( ) ( )

( ) ( )
( ) ( )
( ) ( )

( ( )) ( ( )) ( ( ))

( ) ( ) ( )

( ) ( ) ( )

( )( ) ( )

( ) = (-6,5778 - 5,7357) = -12,3125

= 2(-8,6058) = -17,2116
= 6,5778 - 5,7357 = 0,8421


( )

( ) √( ) ( )( )
( ( )
)

( ) ( )
( )
( ) ( )
( )
CÁLCULOS DE VELOCIDAD

-b

DERIVADA

( ) ( ) ( )

PARTE REAL

PARTE IMAGINARIA

SISTEMA DE ECUACIONES

DESPEJANDO W3
( )( ) ( )( )

( ) ( )
( ) ( )
( )
( )

( )
( )
( ) ( )
( )

( ) ( ) ( ) ( )
( )

( )

( ) ( ) ( ) ( )

( )


( ) ( ) ( ) ( )

⁄ ⁄

( )

( ) ( ) ( ) ( )
CALCULOS DE ACELERACION

1 DERIVADA

2 DERIVADA
( ) ( ) ( )

( ) ( ) ( )
REPRESENTACION EULER
[ ( ) ( )]
[ ( ) ( )]
[ ( ) ( )]

[ ]
[ ]
[ ]

[ ]
[ ]
[ ]
[ ]
[ ]
[ ]

PARTE REAL

PARTE IMAGINARIA

SISTEMA DE ECUACIONES

DESPEJANDO

( )( )
( )( )

= -54819,44

= 3,8065
= 30053,80
= 3,2419
( )( ) ( )( )

= 35,16
= 3,336

( )

( )( ) ( )( )
( )( ) ( )( )

( ) ( ) ( ) ( )

( ) ( ) ( ) ( )
⁄ ⁄ ⁄


( ) ( ) ( ) ( )

⁄ ⁄


( ) ( ) ( ) ( )

⁄ ⁄

( ) ( ) ( ) ( )

( ) ( ) ( ) ( )

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