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15 25
r2 r1 140 π
100 100 π π π ω2
θ2 0.001 11 3
6 6 6
r2 cos θ2 r3 cos θ3 r1 = 0
r2 sin θ2 r3 sin θ3 = 0
r2 sin θ2
θ3 θ2 atan
r2 cos θ2 r1
r2 sinθ2
2 2
r3 θ2 r2 cos θ2 r1
Analisis de velocidad
r2 ω2 sin θ2 v 3 cos θ3 r3 ω3 sin θ3 = 0
r2 ω2 cos θ2 v 3 sin θ3 r3 ω3 cos θ3 = 0
v 3 θ2 r2 ω2 sin θ2 θ3 θ2
r2 ω2 cos θ2 θ3 θ2
ω3 θ2
r3 θ2
Analisis de aceleracion
2 2
r2 ω2 cos θ2 a3 cos θ3 2v 3 ω3 sin θ3 r3 α3 sin θ3 r3 ω3 cos θ3 = 0
2 2
a3 θ2 r3 θ2 ω3 θ2 r2 ω2 cos θ2 θ3 θ2
2
r2 sin θ2 θ3 θ2 ω2 2 v 3 θ2 ω3 θ2
α3 θ2
r3 θ2
2 2
aG2x θ2 rG2 ω2 cos θ2 aG2y θ2 rG2 ω2 sin θ2
rG3 ω3θ2 cosθ3θ2
2
aG3x θ2 rG3 α3 θ2 sin θ3 θ2
rG3 ω3θ2
2
aG3y θ2 rG3 α3 θ2 cos θ3 θ2 sin θ3 θ2
1 cos θ2
π
0 0 0
0
2
0 sin θ2 0
π
1 0 0
2
0 0 r2 0 0 1
G θ2
0 cos θ3 θ2 1 0
π
0 2
0
0 0 sin θ3 θ2 0 1
0
π
2
0 0 r3 θ2 0 0 0
m2 aG2x θ2
m2 aG2y θ2
0
Fef θ2
m3 aG3x θ2
m3 aG3y θ2
2
IG3 m3 rG3 α3 θ2
1
F θ2 G θ2 Fef θ2
F21x θ2 F θ2 1
F21y θ2 F θ2 2
FN θ2 F θ2 3
F31x θ2 F θ2 4
F31y θ2 F θ2 5
M 21 θ2 F θ2 6
Graficas cinematicas
0.4
40
0.3
20
180
r3 θ 2
θ3 θ2
π 400 300 200 100 0 100 0.2
20
0.1
400 300 200 100 0
40
180
θ2
180 π
θ2
π
30
20
180
10
a3 θ2
π
v3 θ2
400 300 200 100 0 100
10 400 300 200
20
30
1
θ 2
180
θ2
π
300 3
200 1
ω 3 θ2 100
α3 θ2
400 300 200 10
1
400 300 200 100 0 100
100 3
180 180
θ2 θ2
π π
3
2 10
3
1 10
aG2x θ2
400 300 200 100 0 100
aG2y θ2
40
3
1 10
3
2 10
180
θ2
π
3
2 10 aG3y θ2
aG3x θ2 400
3
4 10
3
6 10
180
θ2
π
Graficas de las fuerzas y momentos
400
200
F21x θ2
400 300 200 100
200
0 100
F21y θ2
400 300 200
400
180
θ2
π
θ2
3
1 10
400 300 200 100
500
1 10
FN θ2
400 300 200 100 0 100
F31x θ2
2 10
500
3
1 10 3 10
180 180
θ2 θ2
π π
3 200
2 10
3 100
1 10
F31y θ2
M21 θ2
400 300 200 100 0
400 300 200 100 0 100
1 10
3 100
2 10
3 200
180 180
θ2 θ2
π π
Fuerza y Momento de sacudimiento
Fs θ2 F21xθ2 F31xθ22 F21yθ2 F31yθ22
M s θ2 M 21 θ2 r1 F31y θ2
3
3 10
3
2 10 M21 θ2
Fs θ2 400 300 200
3
1 10
Aceleracion de coriolis
ac θ2 2 v3θ2 ω3θ2 sinθ3θ22 2 v3θ2 ω3θ2 cosθ3θ2
3
3 10
3
2 10
ac θ2
3
1 10
5
6 10
5
4 10
5
2 10
100 0 100
5
2 10
180
π
4
10
4
10
00 4 0 100
10
4
10
3
2 10
3
1 10
180
θ2
π
3
2 10
3
1 10
180
θ2
π
3
1 10
500
100 0 100
500
3
1 10
180
π
0 100
3
0
3
0
3
0
100
200
100
100 0 100
100
200
180
π
2