mecanimos 2
DESCRIPTION
tabulacion de mecanismoTRANSCRIPT
Ɵ2(°) Ɵ2(RAD) A B Cr1 14.89 0 0 -4.4259 0 8.4641r2 2 10 0.17453293 -4.41148408 -0.34729636 8.50890042r3 12.76 20 0.34906585 -4.36867433 -0.68404029 8.64194043r6 7.64 30 0.52359878 -4.29877151 -1 8.85917769k1 7.445 40 0.6981317 -4.20389957 -1.28557522 9.15401154k2 1.9489 50 0.87266463 -4.08694116 -1.53208889 9.51748362k3 3.968 60 1.04719755 -3.95145 -1.73205081 9.93855k4 1.1669 70 1.22173048 -3.80154291 -1.87938524 10.4044168k5 -6.4686 80 1.3962634 -3.64177476 -1.96961551 10.9009289Ɵx 19.94 0.34801865 90 1.57079633 -3.477 -2 11.413ω2 5 100 1.74532925 -3.31222524 -1.96961551 11.9250711ω5 5 110 1.91986218 -3.15245709 -1.87938524 12.4215832
120 2.0943951 -3.00255 -1.73205081 12.88745130 2.26892803 -2.86705884 -1.53208889 13.3085164140 2.44346095 -2.75010043 -1.28557522 13.6719885150 2.61799388 -2.65522849 -1 13.9668223160 2.7925268 -2.58532567 -0.68404029 14.1840596170 2.96705973 -2.54251592 -0.34729636 14.3170996180 3.14159265 -2.5281 -2.4493E-16 14.3619190 3.31612558 -2.54251592 0.34729636 14.3170996200 3.4906585 -2.58532567 0.68404029 14.1840596210 3.66519143 -2.65522849 1 13.9668223220 3.83972435 -2.75010043 1.28557522 13.6719885230 4.01425728 -2.86705884 1.53208889 13.3085164240 4.1887902 -3.00255 1.73205081 12.88745250 4.36332313 -3.15245709 1.87938524 12.4215832260 4.53785606 -3.31222524 1.96961551 11.9250711270 4.71238898 -3.477 2 11.413280 4.88692191 -3.64177476 1.96961551 10.9009289290 5.06145483 -3.80154291 1.87938524 10.4044168300 5.23598776 -3.95145 1.73205081 9.93855310 5.41052068 -4.08694116 1.53208889 9.51748362320 5.58505361 -4.20389957 1.28557522 9.15401154330 5.75958653 -4.29877151 1 8.85917769340 5.93411946 -4.36867433 0.68404029 8.64194043350 6.10865238 -4.41148408 0.34729636 8.50890042360 6.28318531 -4.4259 4.89859E-16 8.4641
0 50 100 150 200 250 300 350 400-2000
0
2000
4000
6000
8000
10000
12000
14000
16000
18000
ACELERACION DE ESLABON DE 3 RESPECTO A TETA2
ANGULO TETA 2
ACEL
ERAC
ION
DE
3
0 50 100 150 200 250 300 350 400
-30
-20
-10
0
10
20
30
VELOCIDAD DE ESLABON 3 RESPECTO A TETA 2
ANGULO TETA 2
VELO
CIDA
D DE
3
0 50 100 150 200 250 300 350 400-2000
0
2000
4000
6000
8000
10000
12000
14000
16000
18000
ACELERACION DE ESLABON DE 3 RESPECTO A TETA2
ANGULO TETA 2
ACEL
ERAC
ION
DE
3
0 50 100 150 200 250 300 350 400
-30
-20
-10
0
10
20
30
VELOCIDAD DE ESLABON 3 RESPECTO A TETA 2
ANGULO TETA 2
VELO
CIDA
D DE
3
0 50 100 150 200 250 300 350 4000
5000000
10000000
15000000
20000000
25000000
30000000
ACELERACION DE ESLABON 4 RESPECTO DE TETA 2
ANGULO TETA 2
ACE
LERA
CIO
N D
E 4
0 50 100 150 200 250 300 350 4000
200
400
600
800
1000
1200
1400
1600
VELOCIDAD DE ESLABON 4 CON RESPECTO A TETA 2
ANGULO TETA 2
VELO
CIDA
D DE
4
D E F Ɵ6(RAD) Ɵ6(°) Ɵ3(RAD) Ɵ3(°) ω6-11.7467 0 1.1433 3.06779543 175.77173 3.09514134 177.338536 -0.06122036
-11.7796201 -0.34729636 1.14076441 3.06859545 175.817568 3.09570487 177.370824 -0.28821258-11.8773801 -0.68404029 1.1332347 3.06907798 175.845215 3.09660418 177.422351 -0.50602223-12.0370096 -1 1.12093964 3.0692011 175.852269 3.09776182 177.488678 -0.70826799-12.2536583 -1.28557522 1.10425282 3.06890744 175.835444 3.09908502 177.564492 -0.88908588-12.5207435 -1.53208889 1.08368125 3.06813138 175.790979 3.10047967 177.644399 -1.04324917
-12.83015 -1.73205081 1.05985 3.0668052 175.714995 3.10186103 177.723546 -1.16628136-13.1724766 -1.87938524 1.03348316 3.064864 175.603772 3.10316003 177.797973 -1.25456673-13.5373218 -1.96961551 1.00538188 3.06225004 175.454003 3.10432543 177.864745 -1.30545444
-13.9136 -2 0.9764 3.05891799 175.263091 3.10532329 177.921918 -1.31734744-14.2898782 -1.96961551 0.94741812 3.0548425 175.029582 3.10613506 177.968429 -1.28976694-14.6547234 -1.87938524 0.91931684 3.05002966 174.753827 3.10675533 178.003968 -1.22338542
-14.99705 -1.73205081 0.89295 3.04453294 174.438888 3.10718979 178.028861 -1.12002427-15.3064565 -1.53208889 0.86911875 3.03847325 174.091693 3.1074535 178.04397 -0.98261618-15.5735417 -1.28557522 0.84854718 3.03205993 173.724237 3.10756912 178.050595 -0.81513502-15.7901904 -1 0.83186036 3.02560648 173.354482 3.10756481 178.050348 -0.62249818-15.9498199 -0.68404029 0.8195653 3.01953027 173.00634 3.10747107 178.044977 -0.4104455-16.0475799 -0.34729636 0.81203559 3.01432396 172.708041 3.1073166 178.036127 -0.18539482
-16.0805 -2.4493E-16 0.8095 3.01049045 172.488397 3.10712361 178.025069 0.04573305-16.0475799 0.34729636 0.81203559 3.00844725 172.37133 3.1069037 178.01247 0.27573142-15.9498199 0.68404029 0.8195653 3.00842654 172.370144 3.1066557 177.99826 0.49737059-15.7901904 1 0.83186036 3.01041044 172.483813 3.10636625 177.981676 0.70368729-15.5735417 1.28557522 0.84854718 3.01413287 172.697092 3.10601304 177.961438 0.88825952-15.3064565 1.53208889 0.86911875 3.01914895 172.984493 3.10556953 177.936027 1.04542558
-14.99705 1.73205081 0.89295 3.02494083 173.316343 3.10501016 177.903978 1.17043323-14.6547234 1.87938524 0.91931684 3.03101774 173.664524 3.10431491 177.864143 1.25953586-14.2898782 1.96961551 0.94741812 3.03698173 174.006235 3.10347317 177.815915 1.31006261
-13.9136 2 0.9764 3.04255303 174.325447 3.10248694 177.759408 1.32047991-13.5373218 1.96961551 1.00538188 3.04756507 174.612616 3.10137364 177.69562 1.29044499-13.1724766 1.87938524 1.03348316 3.0519438 174.863499 3.10016837 177.626563 1.22084203
-12.83015 1.73205081 1.05985 3.05568276 175.077726 3.09892519 177.555335 1.11378816-12.5207435 1.53208889 1.08368125 3.05882012 175.257483 3.09771637 177.486074 0.97259751-12.2536583 1.28557522 1.10425282 3.06141951 175.406418 3.09662825 177.42373 0.80169397-12.0370096 1 1.12093964 3.06355445 175.52874 3.09575297 177.373579 0.60646721-11.8773801 0.68404029 1.1332347 3.06529514 175.628475 3.09517601 177.340522 0.39307376-11.7796201 0.34729636 1.14076441 3.0666976 175.70883 3.09496186 177.328253 0.16819557
-11.7467 4.89859E-16 1.1433 3.06779543 175.77173 3.09514134 177.338536 -0.06122036
0 50 100 150 200 250 300 350 400
-30
-20
-10
0
10
20
30
VELOCIDAD DE ESLABON 3 RESPECTO A TETA 2
ANGULO TETA 2
VELO
CIDA
D DE
3
0 50 100 150 200 250 300 350 400
-30
-20
-10
0
10
20
30
VELOCIDAD DE ESLABON 3 RESPECTO A TETA 2
ANGULO TETA 2
VELO
CIDA
D DE
3
0 50 100 150 200 250 300 350 4000
200
400
600
800
1000
1200
1400
1600
VELOCIDAD DE ESLABON 4 CON RESPECTO A TETA 2
ANGULO TETA 2
VELO
CIDA
D DE
4
ω3 α6 α3 ω4 REAL ω4 IMA ω4 α4 REAL α4 IMA-0.05820263 239.23152 143.076363 10.0393701 -44.8287183 45.9391221 2060.20609 27871.3935-3.24107543 238.662076 370.748049 10.0393701 -254.279347 254.477455 64708.5782 900651.348
-6.4480938 228.861523 1059.04465 10.0393701 -466.716922 466.824886 217875.278 3063403.05-9.64292275 210.818877 2244.19305 10.0393701 -676.836872 676.911324 458158.744 6465233.82-12.7641636 186.265894 3939.35122 10.0393701 -876.934562 876.992027 769064.819 10827337.9-15.7219442 157.220066 6099.81701 10.0393701 -1056.99916 1057.04684 1117297.82 15593603.5-18.4002441 125.651544 8588.66147 10.0393701 -1205.64494 1205.68673 1453630.3 19973653.1-20.6650297 93.3271625 11158.1565 10.0393701 -1311.76383 1311.80225 1720774.94 23111119.9-22.3772487 61.7697723 13463.3981 10.0393701 -1366.53129 1366.56817 1867458.37 24339058.9-23.4087663 32.2540835 15117.1497 10.0393701 -1365.23152 1365.26843 1863907.7 23412989-23.6585924 5.79490732 15778.9364 10.0393701 -1308.36752 1308.40604 1711876.17 20599366.4-23.0664863 -16.878468 15252.9277 10.0393701 -1201.70619 1201.74812 1444148.35 16567367.3-21.6213734 -35.3467817 13558.7544 10.0393701 -1055.22304 1055.27079 1113546.25 12141306.2-19.3630528 -49.5049327 10945.6287 10.0393701 -881.240371 881.297555 776635.184 8040777.63-16.3772291 -59.5331118 7842.20987 10.0393701 -692.271925 692.344717 479291.01 4720614.93
-12.785613 -65.8332786 4761.10025 10.0393701 -499.123575 499.224531 249174.935 2347255.84-8.73410215 -68.9395496 2192.47768 10.0393701 -309.659105 309.821804 95939.3537 874337.169-4.38226043 -69.4174699 518.131346 10.0393701 -128.400683 128.792563 16537.3275 151417.8130.10387111 -67.7688743 -39.9389966 10.0393701 43.1016245 44.2553837 1908.34214 14484.67974.55580534 -64.3569581 560.55923 10.0393701 205.350746 205.596007 42219.5212 337863.8328.80566348 -59.3619069 2184.62638 10.0393701 359.705074 359.845146 129438.332 1050245.56
12.690897 -52.7723391 4540.86981 10.0393701 507.154978 507.254335 257256.764 2125430.5316.0619395 -44.4124874 7224.07403 10.0393701 647.288331 647.366181 419032.776 3556365.9518.7919935 -33.9995125 9781.74563 10.0393701 777.632902 777.697705 604763.523 5317703.6320.7868929 -21.2198509 11797.1168 10.0393701 893.532768 893.589165 798451.399 7323598.2621.9928969 -5.80934431 12969.5567 10.0393701 988.640739 988.691711 977461.102 9394580.322.4007875 12.3788259 13168.7182 10.0393701 1055.96727 1056.015 1115117.47 11254209.522.0452396 33.3299487 12445.2259 10.0393701 1089.24942 1089.29568 1186514.88 12572572.820.9991198 56.8493206 10996.0028 10.0393701 1084.26774 1084.31422 1175687.13 13053569.319.3632517 82.5590806 9098.96716 10.0393701 1039.72212 1039.77059 1081072.69 1253466417.2531353 109.889092 7041.36579 10.0393701 957.405734 957.458369 916676.332 11052525.5
14.784823 138.037939 5064.28536 10.0393701 841.648058 841.707931 708422.045 8841914.4812.0623778 165.894138 3335.39527 10.0393701 698.238668 698.310838 487587.829 6271696.739.16902381 191.946036 1949.41344 10.0393701 533.200766 533.295271 284353.649 3754599.466.16336875 214.265762 947.210618 10.0393701 351.805751 351.948967 123817.878 1673636.443.08112609 230.686772 342.005535 10.0393701 158.116763 158.435159 25051.5028 347535.749
-0.05820263 239.23152 143.076363 10.0393701 -44.8287183 45.9391221 2060.20609 27871.3935
α427947.4333902972.8963071141.13
6481447.210854616.9
1563358020026478.923175092.924410595.923487064.720670375.316630190.1
121922648078197.024744884.112360444.48879585.041152318.21114609.8499340491.4931058191.862140942.783580967.365351981.957366995.059445293.49
1130932012628436.413106407.312581197.111090474.18870248.786290621.733765351.791678210.29348437.47627947.4333