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codigod para mecanismos

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codigos para mecanismos
00001
TRENCHE
%TRENCHE=a1, a2,a3
%phi(bi,b2,b3
a1=30*pi/180;
a2=50*pi/180;
a3=80*pi/180;
s1=9.43;
s2=8.54;
s3=6.87
b1=50*pi/180;
b2=100*pi/180;
b3=150*pi/180;
A=[s1*cos(a1) -sin(a1) -1;s2*cos(a2) -sin(a2)
B=[(s1^2);(s2)^2;(s3)^2]
Ainv=inv(A)
X=Ainv*B;
k1=X(1)
k2=X(2)
k3=X(3)
r=k1/2% pCAMBIA ESTE VALOR YAAAAAAAA
a=k2/(2*r)
l=sqrt(a^2+r^2-k3)
-1;s3*cos(a3) -sin(a3)
00002
BLOCH CUADRICULA
%bloch para cuadricula articulada
w2=-2;
w3=0.476;
w4=-0.514;
alfa2=0;
alfa3=1.45;
alfa4=2.01;
r2=w4*(alfa3+i*(w3^2))-w3*(alfa4+i*(w4^2))
r3=w2*(alfa4+i*(w4^2))-w4*(alfa2+i*(w2^2))
r4=w3*(alfa2+i*(w2^2))-w2*(alfa3+i*(w3^2))
r4=-r2-r3-r4
r21=w4*alfa3-w3*alfa4+i*w4*w3*(w3-w4)
r22=w2*alfa4-w4*alfa2+i*w2*w4*(w4-w2)
r23=w3*alfa2-w2*alfa3+i*w3*w2*(w2-w3)
00003
%modelo del desarrollo de Newton-Raphson cuadrícula articulada
clear
clc
a=116;
b=108;
c=110;
-1];
d=174;
t1=335*pi/180;
t2=37*pi/180;
t3=250*pi/180;
t4=150*pi/180;
%a+b-c-d
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1)
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)]
B=-[f1;f2]
%Aa=inv(A)
X=A\B
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1)
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)]
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1)
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)]
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1)
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)]
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1)
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)]
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1)
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)]
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1)
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)]
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)];
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)];
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)];
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)];
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)];
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)];
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
t3=t3*pi/180
t4=t4*pi/180
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
A=[-b*sin(t3) c*sin(t4);
b*cos(t3) -c*cos(t4)];
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1)];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt3=X(1);
vt4=X(2);
t3=t3+vt3;
t4=t4+vt4;
t3=t3*180/pi
t4=t4*180/pi
0004
%ejercicio 6 eslabones en clase cuadricula con coriolis
clear
clc
a=2;
b=3.5;
c=3;
d=3.5;
e=7.5;
f=5;
g=2;
h=8.5;
t1=90*pi/180;
t2=20*pi/180;
t3=100*pi/180; %no interfiere
t4=75*pi/180
t5=165*pi/180;
t6=180*pi/180;
t7=90*pi/180;
%a-c+d=0
%g+h-f-e=0
%iteracion 1
f1=a.*cos(t2)-c.*cos(t4)+d*cos(t1);
f2=a.*sin(t2)-c.*sin(t4)+d*sin(t1);
f3=g*cos(t6)+h*cos(t7)-f*cos(t5)-e*cos(t4);
f4=g*sin(t6)+h*sin(t7)-f*sin(t5)-e*sin(t4);
A=[-cos(t4) c*sin(t4) 0 0;
-sin(t4) -c*cos(t4) 0 0;
0 e*sin(t4) f*sin(t5) cos(t6);
0 -e*cos(t4) -f*cos(t5) sin(t6)]; %EL JACOBIANO
B=-[f1;f2;f3;f4];
X=A\B
vc=X(1)
vt4=X(2)
vt5=X(3)
vg=X(4)
t5=(t5+vt5)*180/pi
t4=(t4+vt4)*180/pi
c=(c+vc)
g=g+vg
%
t5=t5*pi/180
t4=t4*pi/180
f1=a.*cos(t2)-c.*cos(t4)+d*cos(t1);
f2=a.*sin(t2)-c.*sin(t4)+d*sin(t1);
f3=g*cos(t6)+h*cos(t7)-f*cos(t5)-e*cos(t4);
f4=g*sin(t6)+h*sin(t7)-f*sin(t5)-e*sin(t4);
A=[-cos(t4) c*sin(t4) 0 0;
-sin(t4) -c*cos(t4) 0 0;
0 e*sin(t4) f*sin(t5) cos(t6);
0 -e*cos(t4) -f*cos(t5) sin(t6)]; %EL JACOBIANO
B=-[f1;f2;f3;f4];
X=A\B
vc=X(1)
vt4=X(2)
vt5=X(3)
vg=X(4)
t5=(t5+vt5)*180/pi
t4=(t4+vt4)*180/pi
c=(c+vc)
g=g+vg
%
t5=t5*pi/180
t4=t4*pi/180
f1=a.*cos(t2)-c.*cos(t4)+d*cos(t1);
f2=a.*sin(t2)-c.*sin(t4)+d*sin(t1);
f3=g*cos(t6)+h*cos(t7)-f*cos(t5)-e*cos(t4);
f4=g*sin(t6)+h*sin(t7)-f*sin(t5)-e*sin(t4);
A=[-cos(t4) c*sin(t4) 0 0;
-sin(t4) -c*cos(t4) 0 0;
0 e*sin(t4) f*sin(t5) cos(t6);
0 -e*cos(t4) -f*cos(t5) sin(t6)]; %EL JACOBIANO
B=-[f1;f2;f3;f4];
X=A\B
vc=X(1)
vt4=X(2)
vt5=X(3)
vg=X(4)
t5=(t5+vt5)*180/pi
t4=(t4+vt4)*180/pi
c=(c+vc)
g=g+vg
%
t5=t5*pi/180
t4=t4*pi/180
f1=a.*cos(t2)-c.*cos(t4)+d*cos(t1);
f2=a.*sin(t2)-c.*sin(t4)+d*sin(t1);
f3=g*cos(t6)+h*cos(t7)-f*cos(t5)-e*cos(t4);
f4=g*sin(t6)+h*sin(t7)-f*sin(t5)-e*sin(t4);
A=[-cos(t4) c*sin(t4) 0 0;
-sin(t4) -c*cos(t4) 0 0;
0 e*sin(t4) f*sin(t5) cos(t6);
0 -e*cos(t4) -f*cos(t5) sin(t6)]; %EL JACOBIANO
B=-[f1;f2;f3;f4];
X=A\B
vc=X(1)
vt4=X(2)
vt5=X(3)
vg=X(4)
t5=(t5+vt5)*180/pi
t4=(t4+vt4)*180/pi
c=(c+vc)
g=g+vg
%
t5=t5*pi/180
t4=t4*pi/180
f1=a.*cos(t2)-c.*cos(t4)+d*cos(t1);
f2=a.*sin(t2)-c.*sin(t4)+d*sin(t1);
f3=g*cos(t6)+h*cos(t7)-f*cos(t5)-e*cos(t4);
f4=g*sin(t6)+h*sin(t7)-f*sin(t5)-e*sin(t4);
A=[-cos(t4) c*sin(t4) 0 0;
-sin(t4) -c*cos(t4) 0 0;
0 e*sin(t4) f*sin(t5) cos(t6);
0 -e*cos(t4) -f*cos(t5) sin(t6)]; %EL JACOBIANO
B=-[f1;f2;f3;f4];
X=A\B
vc=X(1)
vt4=X(2)
vt5=X(3)
vg=X(4)
t5=(t5+vt5)*180/pi
t4=(t4+vt4)*180/pi
c=(c+vc)
g=g+vg
00005
%modelo del desarrollo de Newton-Raphson cuadrícula articulada-biela
%maniviela
clear
clc
a=4;
b=12;
c=7;
d=12;
f=10;
g=21;
h=14;
t1=0*pi/180;
t2=150*pi/180;
t3=17*pi/180
t4=125*pi/180
t5=337*pi/180;
t6=0*pi/180;
fprintf('PRIMERA ITERACION');
%a+b-c-d=0
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
%f+g-h=0
f3=f*cos(t4)+g*cos(t5)-h*cos(t6);
f4=f*sin(t4)+g*sin(t5)-h*sin(t6);
fprintf('MATRIZ A');
A=[-b*sin(t3) c*sin(t4) 0 0;
b*cos(t3) -c*cos(t4) 0 0;
0 -f*sin(t4) -g*sin(t5) -cos(t6);
0 f*cos(t4) g*cos(t5) -sin(t6) ]
fprintf('MATRIZ B negada');
B=-[a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
f*cos(t4)+g*cos(t5)-h*cos(t6);
f*sin(t4)+g*sin(t5)-h*sin(t6)]
%Aa=inv(A)
fprintf('MATRIZ INVERSA DE A');
INV=inv(A)
X=INV*B;
%xx=inv(A)*B
fprintf('VALORES DE t3 t4 t5 h');
vt3=X(1);
vt4=X(2);
vt5=X(3);
vh=X(4);
fprintf('NUEVOS VALORES INICIALES DE t3 t4 t5 h');
t3=t3+vt3
t4=t4+vt4
t5=t5+vt5
h=h+vh
00006
%codigo posicionamiento 6 barra coriolis
clear
clc
AM=[0,0,0,0,0,0,0,0,0,0,0,0,0,0];
chi=0;
a=2;
b=3.5;
c=3;
d=3.5;
e=7.5;
f=5;
g=2;
h=8.5;
t1=90*pi/180;
t2=20*pi/180;
t3=100*pi/180; %no interfiere
t4=60*pi/180
t5=165*pi/180;
t6=180*pi/180;
t7=90*pi/180;
%a-c+d=0
%g+h-f-e=0
for i=1:10
f1=a.*cos(t2)-c.*cos(t4)+d*cos(t1);
f2=a.*sin(t2)-c.*sin(t4)+d*sin(t1);
f3=g*cos(t6)+h*cos(t7)-f*cos(t5)-e*cos(t4);
f4=g*sin(t6)+h*sin(t7)-f*sin(t5)-e*sin(t4);
J=[-cos(t4) c*sin(t4) 0 0;
-sin(t4) -c*cos(t4) 0 0;
0 e*sin(t4) f*sin(t5) cos(t6);
0 -e*cos(t4) -f*cos(t5) sin(t6)]; %EL JACOBIANO
Jn=inv(J);
B=[f1;f2;f3;f4];
X=-Jn*B
vc=X(1)
vt4=X(2)
vt5=X(3)
vg=X(4)
e=0.000001;
while abs(vt4)>e & abs(vt5)>e & abs(vg)>e & abs(vc)>e
t5=(t5+vt5);
t4=(t4+vt4);
c=(c+vc);
g=g+vg;
f1=a.*cos(t2)-c.*cos(t4)+d*cos(t1);
f2=a.*sin(t2)-c.*sin(t4)+d*sin(t1);
f3=g*cos(t6)+h*cos(t7)-f*cos(t5)-e*cos(t4);
f4=g*sin(t6)+h*sin(t7)-f*sin(t5)-e*sin(t4);
J=[-cos(t4) c*sin(t4) 0 0;
-sin(t4) -c*cos(t4) 0 0;
0 e*sin(t4) f*sin(t5) cos(t6);
0 -e*cos(t4) -f*cos(t5) sin(t6)]; %EL JACOBIANO
Jn=inv(J);
B=[f1;f2;f3;f4];
X=-Jn*B
vc=X(1)
vt4=X(2)
vt5=X(3)
vg=X(4)
end
%-------------------------------------------------------------M1=[t4*180/pi,t5*180/pi,t2*180/pi];
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t4=t4+5*pi/180;
end
disp (' t2 t3 t4 ')
disp (AM);
T4=AM(:,1);
T5=AM(:,2);
T2=AM(:,3);
figure(1)
plot(T4,T2,T4,T5)
title('tetha 2 y tetha 5 en funciión de tetha 4')
xlabel('tetha 2')
ylabel('tetha 3 y tetha 4')
legend('curva tetha 3','curva tetha 4')
grid
00007
%MECANISMO DE RETORNO RÁPIDO WHITWOORT
%ARTURO MACEDO SILVA
%INGENIERÍA MECÁNICA UNSAAC
clc, clear
AM=[];
chi=0;
a=4.1;
c=15;
d=11.9;
t1=90*pi/180;
t2=0*pi/180;
t4=82*pi/180;
% ecuaciones obtenidas del lazo vectorial
% R=d*cos(t1)+a*cos(t2)=c*cos(t4); eje real
% I=d*sin(t1)+a*sin(t2)=c*sin(t4); eje imaginario
for i=1:36
f1=d*cos(t1)+a*cos(t2)-c*cos(t4);
f2=d*sin(t1)+a*sin(t2)-c*sin(t4);
A=[c*sin(t4) -cos(t4);
-c*cos(t4) -sin(t4)];
B=-[d*cos(t1)+a*cos(t2)-c*cos(t4);
d*sin(t1)+a*sin(t2)-c*sin(t4)];
X=A\B;
vt4=X(1);
vc=X(2);
k=0.000001;
while abs(vt4)>k & abs(vc)>k
t4=t4+vt4;
c=c+vc;
f1=d*cos(t1)+a*cos(t2)-c*cos(t4); %funciones de generacion=0
f2=d*sin(t1)+a*sin(t2)-c*sin(t4); %funciones de generacion=0
A=[c*sin(t4) -cos(t4);
-c*cos(t4) -sin(t4)]; %EL JACOBIANO
B=-[d*cos(t1)+a*cos(t2)-c*cos(t4);
d*sin(t1)+a*sin(t2)-c*sin(t4)];
X=A\B;
vt4=X(1);
vc=X(2);
end
M=[t2*180/pi,t4*180/pi,c];
if chi==0
AM=M;
chi=1;
else
AM=[AM;M];
end
t2=t2+10*pi/180;
end
disp (' t2 t4 c ')
disp (AM)
t2=AM(:,1);
t4=AM(:,2);
c=AM(:,3);
figure(1)
plot(t2,t4)
title('variación de teta 4')
grid
figure (2)
plot(t2,c,'r')
title('variación de c')
grid
00008
clc,clear%cuadricula articulada y biela manivela
clear
AM=[0,0,0,0,0,0,0,0,0,0];
chi=0;
a=4; %longitud del eslabón 2
b=12; %longitud del eslabón 3
c=7; %longitud del eslabón 4
d=12; %longitud del eslabón 1
f=10;
g=21;
h=14;
%el angulo t1 es cero y aparece en F1
%si desea considere t1 en su programa porque no siempre es cero
t1=0;
t2=0*pi/180;%empezamos de cero para que el programa corra desde cero
t3=18*pi/180; %arbitrariio
t4=125*pi/180; %arbitrario
t5=337*pi/180;
t6=0*pi/180;
for i=1:73
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
f3=f*cos(t4)+g*cos(t5)-h*cos(t6);%el 4 es triangulo
f4=f*sin(t4)+g*sin(t5)-h*sin(t6);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 -f*sin(t4) -g*sin(t5) -cos(t6) ;
0 f*cos(t4) g*cos(t5) -sin(t6)];
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
k=0.0000001;
while (abs(vt3)>k & abs(vt4)>k) & (abs(vdh)>k & abs(vt5)>k)
t3=t3+vt3;
t4=t4+vt4;
t5=t5+vt5;
h=h+vdh;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
f3=f*cos(t4)+g*cos(t5)-h*cos(t6);%el 4 es triangulo
f4=f*sin(t4)+g*sin(t5)-h*sin(t6);
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 -f*sin(t4) -g*sin(t5) -cos(t6) ;
0 f*cos(t4) g*cos(t5) -sin(t6)];
%EL JACOBIANO
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
end
%-------------------------------------------------------M1=[t2*180/pi,t3*180/pi,t4*180/pi,t5*180/pi,h];
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t2=t2+5*pi/180;
end
disp (' t2 t3 t4 t5 h ')
disp (AM)
T2=AM(:,1);
T3=AM(:,2);
T4=AM(:,3);
t5=AM(:,4);
h=AM(:,5);
figure(1)
plot(T2,T3,'k',T2,T4)
title ('t3 y t4')
figure (2)
plot(T2,h)
title('desplazamiento del pistón')
00009
clc,clear%cuadricula articulada y biela manivela
clear
a=0.02; %longitud del eslabón 2
b=0.04; %longitud del eslabón 3
c=0.04; %longitud del eslabón 4
d=0.03655512754; %longitud del eslabón 1
f=0.07;
g=0.07;
h=0.0632455532034;
t1=123.6900675*pi/180;
t2=130*pi/180;%empezamos de cero para que el programa corra desde cero
t3=37*pi/180; %arbitrariio
t4=15*pi/180; %arbitrario
t5=227*pi/180;
t6=288.44*pi/180;
td=28.56*pi/180;
k=(360+td)*pi/180;
%A+B+C-D
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
%F+G-H
f3=f*cos(k-t4)+g*cos(t5)-h*cos(t6);%el 4 es triangulo
f4=f*sin(k-t4)+g*sin(t5)-h*sin(t6);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 f*sin(k-t4) -g*sin(t5) -cos(t6) ;
0 -f*cos(k-t4) g*cos(t5) -sin(t6)];
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
t3=(t3+vt3)*180/pi
t5=(t5+vt5)*180/pi
t4=(t4+vt4)*180/pi
h=h+vdh
%iteracion
t3=(t3+vt3)*pi/180;
t5=(t5+vt5)*pi/180;
t4=(t4+vt4)*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
%F+G-H
f3=f*cos(k-t4)+g*cos(t5)-h*cos(t6);%el 4 es triangulo
f4=f*sin(k-t4)+g*sin(t5)-h*sin(t6);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 f*sin(k-t4) -g*sin(t5) -cos(t6) ;
0 -f*cos(k-t4) g*cos(t5) -sin(t6)];
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
t3=(t3+vt3)*180/pi
t5=(t5+vt5)*180/pi
t4=(t4+vt4)*180/pi
h=h+vdh
%iteracion
t3=(t3+vt3)*pi/180;
t5=(t5+vt5)*pi/180;
t4=(t4+vt4)*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
%F+G-H
f3=f*cos(k-t4)+g*cos(t5)-h*cos(t6);%el 4 es triangulo
f4=f*sin(k-t4)+g*sin(t5)-h*sin(t6);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 f*sin(k-t4) -g*sin(t5) -cos(t6) ;
0 -f*cos(k-t4) g*cos(t5) -sin(t6)];
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
t3=(t3+vt3)*180/pi
t5=(t5+vt5)*180/pi
t4=(t4+vt4)*180/pi
h=h+vdh
%iteracion
t3=(t3+vt3)*pi/180;
t5=(t5+vt5)*pi/180;
t4=(t4+vt4)*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
%F+G-H
f3=f*cos(k-t4)+g*cos(t5)-h*cos(t6);%el 4 es triangulo
f4=f*sin(k-t4)+g*sin(t5)-h*sin(t6);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 f*sin(k-t4) -g*sin(t5) -cos(t6) ;
0 -f*cos(k-t4) g*cos(t5) -sin(t6)];
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
t3=(t3+vt3)*180/pi
t5=(t5+vt5)*180/pi
t4=(t4+vt4)*180/pi
h=h+vdh
00010
clc,clear%cuadricula articulada y coriolis
clear
a=0.02; %longitud del eslabón 2
b=0.04; %longitud del eslabón 3
c=0.04; %longitud del eslabón 4
d=0.03655512754; %longitud del eslabón 1
f=0.07;
g=0.07;
h=0.0632455532034;
t1=123.6900675*pi/180;
t2=130*pi/180;%empezamos de cero para que el programa corra desde cero
t3=37*pi/180; %arbitrariio
t4=15*pi/180; %arbitrario
t5=227*pi/180;
t6=288.44*pi/180;
td=28.56*pi/180;
k=(360+td)*pi/180;
%A+B+C-D
for i=1:73
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
%F+G-H
f3=f*cos(k-t4)+g*cos(t5)-h*cos(t6);%el 4 es triangulo
f4=f*sin(k-t4)+g*sin(t5)-h*sin(t6);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 f*sin(k-t4) -g*sin(t5) -cos(t6) ;
0 -f*cos(k-t4) g*cos(t5) -sin(t6)];
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
z=0.0000001;
while (abs(vt3)>z & abs(vt4)>k) z (abs(vdh)>z & abs(vt5)>z)
t3=t3+vt3;
t4=t4+vt4;
t5=t5+vt5;
h=h+vdh;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
%F+G-H
f3=f*cos(k-t4)+g*cos(t5)-h*cos(t6);%el 4 es triangulo
f4=f*sin(k-t4)+g*sin(t5)-h*sin(t6);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 f*sin(k-t4) -g*sin(t5) -cos(t6) ;
0 -f*cos(k-t4) g*cos(t5) -sin(t6)];
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
end
%-------------------------------------------------------M1=[t2*180/pi,t3*180/pi,t4*180/pi,t5*180/pi,h];
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t2=t2+5*pi/180;
end
disp (' t2 t3 t4 t5 h ')
disp (AM)
T2=AM(:,1);
T3=AM(:,2);
T4=AM(:,3);
t5=AM(:,4);
h=AM(:,5);
figure(1)
plot(T2,T3,'k',T2,T4)
title ('t3 y t4')
figure (2)
plot(T2,h)
title('desplazamiento')
00011
clc
a=1.11; %longitud del eslabón 2
b=2.8; %longitud del eslabón 3
c=1; %longitud del eslabón 4
d=2;%longitud del eslabón 1
%angulos iniciales
t1=(180)*pi/180;
t2=330*pi/180;%empezamos de cero para que el programa corra desde cero
t3=230*pi/180; %arbitrariio considere estos ángulos lo más reales
t4=320*pi/180;%arbitrario considere estos ángulos lo más reales
f1=a*cos(t1)+b*cos(t4)-c*cos(t3)-d*cos(t2); %funciones de generacion=0
f2=a*sin(t1)+b*sin(t4)-c*sin(t3)-d*sin(t2); %funciones de generacion=0
%EL JACOBIANO
J=[c*sin(t3) -b*sin(t4);
-c*sin(t3) b*cos(t4)]
Jn=inv(J);
B=[f1;f2]
X=-Jn*B
vt3=X(1);
vt4=X(2);
t3=(vt3+t3)*180/pi
t4=(vt4+t4)*180/pi
%2 iteracion
t3=t3*pi/180;
t4=t4*pi/180;
f1=a*cos(t1)+b*cos(t4)-c*cos(t3)-d*cos(t2); %funciones de generacion=0
f2=a*sin(t1)+b*sin(t4)-c*sin(t3)-d*sin(t2); %funciones de generacion=0
%EL JACOBIANO
J=[c*sin(t3) -b*sin(t4);
-c*sin(t3) b*cos(t4)]
Jn=inv(J);
B=[f1;f2]
X=-Jn*B
vt3=X(1);
vt4=X(2);
t3=(vt3+t3)*180/pi
t4=(vt4+t4)*180/pi
%2 iteracion
t3=t3*pi/180;
t4=t4*pi/180;
f1=a*cos(t1)+b*cos(t4)-c*cos(t3)-d*cos(t2); %funciones de generacion=0
f2=a*sin(t1)+b*sin(t4)-c*sin(t3)-d*sin(t2); %funciones de generacion=0
%EL JACOBIANO
J=[c*sin(t3) -b*sin(t4);
-c*sin(t3) b*cos(t4)]
Jn=inv(J);
B=[f1;f2]
X=-Jn*B
vt3=X(1);
vt4=X(2);
t3=(vt3+t3)*180/pi
t4=(vt4+t4)*180/pi
00012
%modelo del desarrollo de Newton-Raphson cuadrícula articulada 5 barras
clear
clc
a=76;
b=52;
c=126;
d=50;
e=51.4198405287;
t1=(180+76.5042667192)*pi/180;
t2=76.1904*pi/180;
t3=20.3433*pi/180;
t4=70*pi/180;
t5=20*pi/180;
%a+b-c-d
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
t5=t5*pi/180;
t4=t4*pi/180;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t5)-e*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t5)-e*sin(t1);
A=[ c*sin(t4) d*sin(t5);
-c*cos(t4) -d*cos(t5)];
B=-[f1;f2];
%Aa=inv(A)
X=A\B;
%xx=inv(A)*B
vt4=X(1);
vt5=X(2);
t4=t4+vt4;
t5=t5+vt5;
t5=t5*180/pi
t4=t4*180/pi
00013
%velocidades de cuadricula articulada12232323232
t2=150*pi/180;
t3=18*pi/180;
t4=125.3650*pi/180;
a=4;
b=12;
c=7;
w2=5;
alfa2=0;
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)
%aceleraciones
Ja=[-b*sin(t3) c*sin(t4);b*cos(t3) -c*cos(t4)];
B1=[a*(w2)^2*cos(t2)+a*alfa2*sin(t2)+b*(w3)^2*cos(t3)-c*(w4)^2*cos(t4);
a*(w2)^2*sin(t2)-a*alfa2*cos(t2)+b*(w3)^2*sin(t3)-c*(w4)^2*sin(t4)];
Y=Ja\B1;
alfa3=Y(1)
alfa4=Y(2)
%velociddes de centro de gravedad
rcg2o2=2;
vcg2=w2*rcg2o2
rcg4o4=3.5;
vcg4=w4*rcg4o4
bcg3=4;
vcg3x=-a*w2*sin(t2)-bcg3*w3*sin(t3);
vcg3y=a*w2*cos(t2)+bcg3*w3*cos(t3);
vcg3=((vcg3x)^2+(vcg3y)^2)^0.5
%aceleraciones de centro de gravedad
anA=((w2)^2)*a;
acg2=anA*rcg2o2/a
anB=((w4)^2)*c;
ancg4=anB*rcg4o4/c
atcg4=alfa4*rcg4o4
acg4=((ancg4)^2+(atcg4)^2)^0.5
acg3x=-a*(w2)^2*cos(t2)-a*alfa2*sin(t2)-bcg3*alfa3*sin(t3)-bcg3*(w3)^2*cos(t3)
acg3y=-a*(w2)^2*sin(t2)+a*alfa2*cos(t2)+bcg3*alfa3*cos(t3)-bcg3*(w3)^2*sin(t3)
acg3=((acg3x)^2+(acg3y)^2)^0.5
00014
clc,clear%cuadricula articulada y biela manivela
clear
AM=[0,0,0,0,0,0,0,0,0,0];
chi=0;
a=1; %longitud del eslabón 2
b=4; %longitud del eslabón 3
c=3; %longitud del eslabón 4
d=4.21;
e=6%longitud del eslabón 1
f=6.5;
g=5;
h=7.5;
%el angulo t1 es cero y aparece en F1
%si desea considere t1 en su programa porque no siempre es cero
t1=331.61*pi/180;
t2=100*pi/180;%empezamos de cero para que el programa corra desde cero
t3=1*pi/180; %arbitrariio
t4=85*pi/180; %arbitrario
t5=185*pi/180;
t6=90*pi/180;
t7=180*pi/180;
te=15.08*pi/180;
for i=1:73
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
f3=e*cos(t4+te)+f*cos(t5)-g*cos(t6)-h*cos(t7);%el 4 es triangulo
f4=e*sin(t4+te)+f*sin(t5)-g*sin(t6)-h*sin(t7);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 -e*sin(t4+te) -f*sin(t5) -cos(t7) ;
0 e*cos(t4+te) f*cos(t5) -sin(t7)];
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
k=0.0000001;
while (abs(vt3)>k & abs(vt4)>k) & (abs(vdh)>k & abs(vt5)>k)
t3=t3+vt3;
t4=t4+vt4;
t5=t5+vt5;
h=h+vdh;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
f3=e*cos(t4+te)+f*cos(t5)-g*cos(t6)-h*cos(t7);%el 4 es triangulo
f4=e*sin(t4+te)+f*sin(t5)-g*sin(t6)-h*sin(t7);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 -e*sin(t4+te) -f*sin(t5) -cos(t7) ;
0 e*cos(t4+te) f*cos(t5) -sin(t7)];
%EL JACOBIANO
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
end
%-------------------------------------------------------M1=[t2*180/pi,t3*180/pi,t4*180/pi,t5*180/pi,h];
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t2=t2+5*pi/180;
end
disp (' t2 t3 t4 t5 h ')
disp (AM)
T2=AM(:,1);
T3=AM(:,2);
T4=AM(:,3);
t5=AM(:,4);
h=AM(:,5);
figure(1)
plot(T2,T3,'k',T2,T4)
title ('t3 y t4')
figure (2)
plot(T2,h)
title('desplazamiento del pistón')
00015
clear
clc
AM=[0,0,0,0,0,0,0,0,0,0];
chi=0;
a=1.11;
b=2.8;
c=1;
d=2;
f=3.5;
g=7.2;
e=5.79;
t1=180*pi/180;
t2=270*pi/180;%probar valores para teta 2 porque este manda
t3=230*pi/180;
t4=320*pi/180;
t6=210*pi/180;
for i=1:30
f1=a*cos(t1)+b*cos(t4)-c*cos(t3)-d*cos(t2);
f2=a*sin(t1)+b*sin(t4)-c*sin(t3)-d*sin(t2);
%g+h-f-ee
f3=e*cos(t1)+d*cos(t2)+f*cos(t3)-g*cos(t6);
f4=e*sin(t1)+d*sin(t2)+f*sin(t3)-g*sin(t6);
A=[c*sin(t3) -b*sin(t4) 0 0;
-c*cos(t3) b*cos(t4) 0 0;
-f*sin(t3) 0 g*sin(t6) -cos(t6);
f*cos(t3) 0 -g*sin(t6) -sin(t6)];
B=-[f1; f2; f3; f4];
X=inv(A)*B;
vt3=X(1);
vt4=X(2) ;
vt6=X(3);
vg=X(4);
k=0.000001;
while (abs(vt3)>k & abs(vt4)>k) & (abs(vg)>k & abs(vt6)>k)
t3=t3+vt3;
t4=t4+vt4;
t6=t6+vt6;
g=g+vg;
f1=a*cos(t1)+b*cos(t4)-c*cos(t3)-d*cos(t2);
f2=a*sin(t1)+b*sin(t4)-c*sin(t3)-d*sin(t2);
%g+h-f-ee
f3=e*cos(t1)+d*cos(t2)+f*cos(t3)-g*cos(t6);
f4=e*sin(t1)+d*sin(t2)+f*sin(t3)-g*sin(t6);
A=[c*sin(t3) -b*sin(t4) 0 0;
-c*cos(t3) b*cos(t4) 0 0;
-f*sin(t3) 0 g*sin(t6) -cos(t6);
f*cos(t3) 0 -g*sin(t6) -sin(t6)];
B=-[f1; f2; f3; f4];
X=inv(A)*B;
vt3=X(1);
vt4=X(2) ;
vt6=X(3);
vg=X(4);
end
%-------------------------------------------------------M1=[t2*180/pi,t3*180/pi,t4*180/pi,t6*180/pi,g];
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t2=t2+5*pi/180;
end
disp (' t2 t3 t4 t6 G ')
disp (AM)
T2=AM(:,1);
T3=AM(:,2);
T4=AM(:,3);
T6=AM(:,4);
g=AM(:,5);
figure(1)
plot(T2,T3,'k',T2,T4)
title ('t3 y t4')
figure (2)
plot(T2,g)
title('desplazamiento del pistón')
00016
%codigo posicionamiento 6 barra coriolis
clear
clc
AM=[0,0,0,0,0,0,0,0,0,0,0,0,0,0];
chi=0;
a=2;
b=3.5;
c=3;
d=3.5;
e=7.5;
f=5;
g=2;
h=8.5;
t1=90*pi/180;
t2=20*pi/180;
t3=100*pi/180; %no interfiere
t4=60*pi/180
t5=165*pi/180;
t6=180*pi/180;
t7=90*pi/180;
%a-c+d=0
%g+h-f-e=0
for i=1:10
f1=a.*cos(t2)-c.*cos(t4)+d*cos(t1);
f2=a.*sin(t2)-c.*sin(t4)+d*sin(t1);
f3=g*cos(t6)+h*cos(t7)-f*cos(t5)-e*cos(t4);
f4=g*sin(t6)+h*sin(t7)-f*sin(t5)-e*sin(t4);
J=[-cos(t4) c*sin(t4) 0 0;
-sin(t4) -c*cos(t4) 0 0;
0 e*sin(t4) f*sin(t5) cos(t6);
0 -e*cos(t4) -f*cos(t5) sin(t6)]; %EL JACOBIANO
Jn=inv(J);
B=[f1;f2;f3;f4];
X=-Jn*B
vc=X(1)
vt4=X(2)
vt5=X(3)
vg=X(4)
e=0.000001;
while abs(vt4)>e & abs(vt5)>e & abs(vg)>e & abs(vc)>e
t5=(t5+vt5);
t4=(t4+vt4);
c=(c+vc);
g=g+vg;
f1=a.*cos(t2)-c.*cos(t4)+d*cos(t1);
f2=a.*sin(t2)-c.*sin(t4)+d*sin(t1);
f3=g*cos(t6)+h*cos(t7)-f*cos(t5)-e*cos(t4);
f4=g*sin(t6)+h*sin(t7)-f*sin(t5)-e*sin(t4);
J=[-cos(t4) c*sin(t4) 0 0;
-sin(t4) -c*cos(t4) 0 0;
0 e*sin(t4) f*sin(t5) cos(t6);
0 -e*cos(t4) -f*cos(t5) sin(t6)]; %EL JACOBIANO
Jn=inv(J);
B=[f1;f2;f3;f4];
X=-Jn*B
vc=X(1)
vt4=X(2)
vt5=X(3)
vg=X(4)
end
%-------------------------------------------------------------M1=[t4*180/pi,t5*180/pi,t2*180/pi];
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t4=t4+5*pi/180;
end
disp (' t2 t3 t4 ')
disp (AM);
T4=AM(:,1);
T5=AM(:,2);
T2=AM(:,3);
figure(1)
plot(T4,T2,T4,T5)
title('tetha 2 y tetha 5 en funciión de tetha 4')
xlabel('tetha 2')
ylabel('tetha 3 y tetha 4')
legend('curva tetha 3','curva tetha 4')
grid
00017
%CUADRICULA
lear
clc
AM=[0,0,0,0,0,0,0,0,0,0];
chi=0;
a=63;
b=130;
c=40;
d=52;
t1=90*pi/180;
t2=0*pi/180;
t3=142*pi/180; %no interfiere
t4=180*pi/180;
%a+b-c-d
for i=1:73
f1=a*cos(t2)+b*cos(t3)-c*cos(t1)-d*cos(t4);
f2=a*sin(t2)+b*sin(t3)-c*sin(t1)+d*sin(t4);
%jacobiano
A=[-b*sin(t3) -cos(t1) ;
b*cos(t3) -sin(t1) ];
B=-[f1;f2];
X=A\B;
vt3=X(1);
vc=X(2);
k=0.0000001;
while (abs(vt3)>k & (abs(vc))>k)
t3=t3+vt3;
c=c+vc;
f1=a*cos(t2)+b*cos(t3)-c*cos(t1)-d*cos(t4);
f2=a*sin(t2)+b*sin(t3)-c*sin(t1)+d*sin(t4);
%jacobiano
A=[-b*sin(t3) -cos(t1) ;
b*cos(t3) -sin(t1) ];
B=-[f1;f2];
X=A\B;
vt3=X(1);
vc=X(2);
end
%-------------------------------------------------------M1=[t2*180/pi,t3*180/pi,c];
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t2=t2+5*pi/180;
end
disp (' t2 t3 c ')
disp (AM)
T2=AM(:,1);
T3=AM(:,2);
c=AM(:,3);
figure(1)
plot(T2,T3,'k',T2,c)
title ('t3 y t4')
figure (2)
plot(T2,c)
title('desplazamiento del pistón en mm')
00018
%GENERACION
%TRENCHE=a1, a2,a3
%phi(bi,b2,b3
a1=32.77*pi/180;
a2=55*pi/180;
a3=84.73*pi/180;
b1=24.02*pi/180;
b2=50*pi/180;
b3=75.98*pi/180;
A=[cos(a1) -cos(b1) 1;cos(a2) -cos(b2) 1;cos(a3) -cos(b3)
B=[cos(a1-b1);cos(a2-b2);cos(a3-b3)]
Ainv=inv(A)
X=Ainv*B;
k1=X(1)
k2=X(2)
k3=X(3)
d=10% pCAMBIA ESTE VALOR YAAAAAAAA
a=d/k1
b=d/k2
c=sqrt(((a)^2)+((b)^2)+((d)^2)-(2*a*b*k3))
z1=d+b
z2=a+c
1];
00019
clc,clear%cuadricula articulada y biela manivela
clear
AM=[0,0,0,0,0,0,0,0,0,0];
chi=0;
a=1; %longitud del eslabón 2
b=4; %longitud del eslabón 3
c=3; %longitud del eslabón 4
d=4.21;
e=6%longitud del eslabón 1
f=6.5;
g=5;
h=7.5;
%el angulo t1 es cero y aparece en F1
%si desea considere t1 en su programa porque no siempre es cero
t1=331.61*pi/180;
t2=0*pi/180;%empezamos de cero para que el programa corra desde cero
t3=1*pi/180; %arbitrariio
t4=85*pi/180; %arbitrario
t5=185*pi/180;
t6=90*pi/180;
t7=180*pi/180;
te=15.08*pi/180;
for i=1:73
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
f3=e*cos(t4+te)+f*cos(t5)-g*cos(t6)-h*cos(t7);%el 4 es triangulo
f4=e*sin(t4+te)+f*sin(t5)-g*sin(t6)-h*sin(t7);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 -e*sin(t4+te) -f*sin(t5) -cos(t7) ;
0 e*cos(t4+te) f*cos(t5) -sin(t7)];
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
k=0.0000001;
while (abs(vt3)>k & abs(vt4)>k) & (abs(vdh)>k & abs(vt5)>k)
t3=t3+vt3;
t4=t4+vt4;
t5=t5+vt5;
h=h+vdh;
f1=a*cos(t2)+b*cos(t3)-c*cos(t4)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-c*sin(t4)-d*sin(t1);
f3=e*cos(t4+te)+f*cos(t5)-g*cos(t6)-h*cos(t7);%el 4 es triangulo
f4=e*sin(t4+te)+f*sin(t5)-g*sin(t6)-h*sin(t7);
% t3 t4 t5 h
A=[-b.*sin(t3) c.*sin(t4) 0 0;
b.*cos(t3) -c.*cos(t4) 0 0;
0 -e*sin(t4+te) -f*sin(t5) -cos(t7) ;
0 e*cos(t4+te) f*cos(t5) -sin(t7)];
%EL JACOBIANO
B=-[f1;f2;f3;f4];
X=A\B;
vt3=X(1);
vt4=X(2);
vt5=X(3);
vdh=X(4);
end
%-------------------------------------------------------M1=[t2*180/pi,t3*180/pi,t4*180/pi,t5*180/pi,h];
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t2=t2+5*pi/180;
end
disp (' t2 t3 t4 t5 h ')
disp (AM)
T2=AM(:,1);
T3=AM(:,2);
T4=AM(:,3);
t5=AM(:,4);
h=AM(:,5);
figure(1)
plot(T2,T3,'k',T2,T4)
title ('t3 y t4')
figure (2)
plot(T2,h)
title('desplazamiento del pistón')
00020
%TRENCHE BIELA MANIVELA
%TRENCHE=a1, a2,a3
%phi(bi,b2,b3
a1=30*pi/180;
a2=50*pi/180;
a3=80*pi/180;
s1=9.43;
s2=8.54;
s3=6.87
b1=50*pi/180;
b2=100*pi/180;
b3=150*pi/180;
A=[s1*cos(a1) -sin(a1) -1;s2*cos(a2) -sin(a2)
B=[(s1^2);(s2)^2;(s3)^2]
Ainv=inv(A)
X=Ainv*B;
k1=X(1)
k2=X(2)
k3=X(3)
r=k1/2% pCAMBIA ESTE VALOR YAAAAAAAA
a=k2/(2*r)
l=sqrt(a^2+r^2-k3)
-1;s3*cos(a3) -sin(a3)
00021
%INGENIERIA MECANICA UNSAAC
%ARTURO MACEDO SILVA
%PROGRAMA CUADRICULA ARTICULADA
%POSICIONAMIENTO, VELOCIDADES ANGULARES, ACELERACIONES ANGULARES
clc,clear%ejemplo planteado en la página 413 Mabie
clear
AM=[0,0,0,0,0,0,0,0,0,0,0,0,0,0];
chi=0;
a=3; %longitud del eslabón 2
b=8; %longitud del eslabón 3
c=6; %longitud del eslabón 4
d=7; %longitud del eslabón 1
%angulos iniciales
t1=0*pi/180;
t2=0*pi/180;%empezamos de cero para que el programa corra desde cero
t3=22.07*pi/180; %arbitrariio considere estos ángulos lo más reales
t4=76.11*pi/180; %arbitrario considere estos ángulos lo más reales
w2=5;%velocidad angular del eslabón2 dato
alfa2=1;%aceleración angular del eslabón 2 dato
for k=1:73
f1=a.*cos(t2)+b.*cos(t3)-c.*cos(t4)-d*cos(t1) %funciones de
generacion=0
f2=a.*sin(t2)+b.*sin(t3)-c.*sin(t4)-d*sin(t1) %funciones de
generacion=0
-1];
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*cos(t1);
a.*sin(t2)+b.*sin(t3)-c.*sin(t4)-d*sin(t1)]
X=A\B
vt3=X(1)
vt4=X(2)
k=0.000001;
while abs(vt3)>k & abs(vt4)>k
t3=t3+vt3;
t4=t4+vt4;
f1=a.*cos(t2)+b.*cos(t3)-c.*cos(t4)-d*cos(t1)
f2=a.*sin(t2)+b.*sin(t3)-c.*sin(t4)-d*sin(t1)
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*cos(t1);
a.*sin(t2)+b.*sin(t3)-c.*sin(t4)-d*sin(t1)];
X=A\B;
vt3=X(1);
vt4=X(2);
end
%-------------------------------------------------------------%ecuaciones de velocidades
% definimos velocidades angulares w3,w4
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);
%-----------------------------------------------------%definimos aceleraciones angulares alfa3 y alfa4
%observe que el Jacobiano se mantiene, y la matriz B considera las
%aceleraciones tangenciales y normales
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);
%velocidades de A y B (puntos)
Va=a*w2*(-sin(t2)+i*cos(t2));
angle(Va)
Vax=a*w2*(-sin(t2));
Vay=a*w2*(cos(t2));
VA=sqrt(Vax^2+Vay^2);
angBA=atand(Vay/Vax)+180;
Vba=b*w3*(-sin(t3)+cos(t3));
Vbax=b*w3*(-sin(t3));
Vbay=b*w3*(cos(t3));
VBA=sqrt(Vbax^2+Vbay^2);
angA=atand(Vbay/Vbax)+180;
Vb=c*w4*(-sin(t4)+cos(t4));
Vbx=c*w4*(-sin(t4));
Vby=c*w4*(cos(t4));
VB=sqrt(Vbx^2+Vby^2);
angB=atand(Vby/Vbx)+180;
%aceleraciones de A y B
Aa=a*alfa2*(-sin(t2)+i*cos(t2))-a*w2^2*(cos(t2)+i*sin(t2));
Aax=-a*alfa2*sin(t2)-a*w2^2*cos(t2);
Aay=a*alfa2*cos(t2)-a*w2^2*sin(t2);
AA=sqrt(Aax^2+Aay^2);
Aba=b*alfa3*(-sin(t3)+i*cos(t3))-b*w3^2*(cos(t3)+i*sin(t3));
Abax=-b*alfa3*sin(t3)-b*w3^2*cos(t3);
Abay=b*alfa3*cos(t3)-b*w3^2*sin(t3);
ABA=sqrt(Abax^2+Abay^2);
Ab=c*alfa4*(-sin(t4)+i*cos(t4))-c*w4^2*(cos(t4)+i*sin(t4));
Abx=-c*alfa4*sin(t4)-c*w4^2*cos(t4);
Aby=c*alfa4*cos(t4)-c*w4^2*sin(t4);
AB=sqrt(Abx^2+Aby^2);
M1=[t2*180/pi,t3*180/pi,t4*180/pi,w3,w4,alfa3,alfa4,Vbx,Vby,VB,Abx,Aby,AB,Abax,A
bay]
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t2=t2+5*pi/180;
end
disp (' t2 t3 t4 w3 w4 alfa3 alfa4 Vbx Vby VB Abx Aby AB')
disp (AM);
T2=AM(:,1);
T3=AM(:,2);
T4=AM(:,3);
w3=AM(:,4);
w4=AM(:,5);
ALFA3=AM(:,6);
ALFA4=AM(:,7);
Vbx=AM(:,8);
Vby=AM(:,9);
VB=AM(:,10);
Abx=AM(:,11);
Aby=AM(:,12);
AB=AM(:,13);
Abax=AM(:,14);
Abay=AM(:,15);
figure(1)
plot(T2,T3,T2,T4,'linewidth',1.0')
title('tetha 3 y tetha 4 en funciión de tetha 2')
xlabel('tetha 2')
ylabel('tetha 3 y tetha 4')
legend('curva tetha 3','curva tetha 4')
grid
figure(2)
plot(T2,w3,'k','linewidth',1.0')
hold on
plot(T2,w4,'r','linewidth',1.0')
grid on
title('Velocidades angulares W3 y W4 en función de tetha 2')
xlabel('tetha 2')
ylabel('Velocidades angulares W3 y W4')
legend('curva velocidad angular W3','curva velocidad angular W4')
figure(3)
plot(T2,ALFA3,'linewidth',1.0')
hold on
plot(T2,ALFA4,'r','linewidth',1.0')% ojo
grid on
title('Aceleraciones angulares alfa3 y alfa4 en fución de tetha 2')
xlabel('tetha 2')
ylabel('Aceleraciones angulares alfa3 y alfa4')
legend('curva aceleracion angular alfa3','curva aceleracion angular alfa4')
figure(4)
plot(T2,Vbx,T2,Vby,T2,VB,'k','linewidth',1.0')
title('velocidad Vbx, Vby,VB')
xlabel('tetha 2')
ylabel('V bax,VB')
grid
figure(5)
plot(T2,Abx,T2,Aby,T2,AB,'k','linewidth',1.0')
title('aceleracion,Abx,Aby,AB')
xlabel('tetha 2')
ylabel('Abx,Aby,AB')
grid
figure (6)
plot(T2,Abax,T2,Abay)
00022
%INGENIERIA MECANICA UNSAAC
%ARTURO MACEDO SILVA
%PROGRAMA CUADRICULA ARTICULADA
%POSICIONAMIENTO, VELOCIDADES ANGULARES, ACELERACIONES ANGULARES
clc,clear%ejemplo planteado en la página 413 Mabie
clear
AM=[0,0,0,0,0,0,0,0,0,0,0,0,0,0];
chi=0;
a=3; %longitud del eslabón 2
b=8; %longitud del eslabón 3
c=6; %longitud del eslabón 4
d=7; %longitud del eslabón 1
%angulos iniciales
t1=0*pi/180;
t2=60*pi/180;%empezamos de cero para que el programa corra desde cero
t3=22.81*pi/180; %arbitrariio considere estos ángulos lo más reales
t4=71.8*pi/180; %arbitrario considere estos ángulos lo más reales
w2=5;%velocidad angular del eslabón2 dato
alfa2=1;%aceleración angular del eslabón 2 dato
%--------------------------------------------------------------
%ecuaciones de velocidades
% definimos velocidades angulares w3,w4
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)
%-----------------------------------------------------%definimos aceleraciones angulares alfa3 y alfa4
%observe que el Jacobiano se mantiene, y la matriz B considera las
%aceleraciones tangenciales y normales
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)
00023
%TRENCHE CUADRICULA
%TRENCHE=a1, a2,a3
%phi(bi,b2,b3
a1=(73)*pi/180;
a2=(98)*pi/180;
a3=(125)*pi/180;
b1=(50)*pi/180;
b2=(100)*pi/180;
b3=(150)*pi/180;
A=[cos(a1) -cos(b1) 1;cos(a2) -cos(b2) 1;cos(a3) -cos(b3)
B=[cos(a1-b1);cos(a2-b2);cos(a3-b3)]
Ainv=inv(A)
X=Ainv*B;
k1=X(1)
k2=X(2)
k3=X(3)
d=1% pCAMBIA ESTE VALOR YAAAAAAAA
a=d/k1
b=d/k2
c=sqrt(((a)^2)+((b)^2)+((d)^2)-(2*a*b*k3))
z1=d+b
z2=a+c
00024
%velocidades de biela-manivela
t2=300*pi/180;
t3=14.33*pi/180;
a=1;
b=3.5;
c=3.891;
w2=5;
1];
alfa2=0;
Jv=[-b*sin(t3) -1;b*cos(t3) 0];
B=[a*w2*sin(t2);-a*w2*cos(t2)];
X=Jv\B;
w3=X(1)
d_punto=X(2)
%aceleraciones
Ja=[-b*sin(t3) -1;b*cos(t3) 0];
B1=[a*(w2)^2*cos(t2)+a*alfa2*sin(t2)+b*(w3)^2*cos(t3);
a*(w2)^2*sin(t2)-a*alfa2*cos(t2)+b*(w3)^2*sin(t3)];
Y=Ja\B1;
alfa3=Y(1)
d_dospuntos=Y(2)
00025
%velocidades de biela-manivela
t2=300*pi/180;
t3=14.33*pi/180;
a=1;
b=3.5;
c=3.891;
w2=5;
alfa2=0;
Jv=[-b*sin(t3) -1;b*cos(t3) 0];
B=[a*w2*sin(t2);-a*w2*cos(t2)];
X=Jv\B;
w3=X(1)
d_punto=X(2)
%aceleraciones
Ja=[-b*sin(t3) -1;b*cos(t3) 0];
B1=[a*(w2)^2*cos(t2)+a*alfa2*sin(t2)+b*(w3)^2*cos(t3);
a*(w2)^2*sin(t2)-a*alfa2*cos(t2)+b*(w3)^2*sin(t3)];
Y=Ja\B1;
alfa3=Y(1)
d_dospuntos=Y(2)
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