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Mecanismos: Practica Califcada

Alumno :Hugo Alfredo Salazar Monterroso

En Matlab:

clc,clear

clear

AM=[0,0,0,0,0,0,0,0,0,0,0];

chi=0;

  % a+b-c-d=0  a=0.15; %longitud del eslabon 2

  b=0.2121; %longitud del eslabon

c=0.2!"!; %longitud al eslabon #

  d=0.20#"; %longitud d eslabon $

  &=0.1##"; %longitud del eslabon '

  g=0.1##"; %longitud al eslabon '

  t2=0.()i*1!0;

t=150.()i*1!0;

  t#=0.()i*1!0;

  t5="0.()i*1!0;

  t'=1!0.()i*1!0;

  2=10;

  al&a2=1;&or i=1

  &1=a.(cost2/-b.(cost/+c;

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  &2=a.(sint2/-b.(sint/;

  &=d.(cost-15()i*1!0/-&.(cost'/-g.(cost5/;

  &#=d.(sint-15()i*1!0/-&.(sint'/-g.(sint5/;

  A=[b.(sint/ -1 0 0;

  -b.(cost/ 0 0 0;

  -d(sint/ 0 &(sint'/ -cost'/;

  d(cost/ 0 -&(cost'/ -sint'/];  =-[a.(cost2/-b.(cost/+c;a.(sint2/-b.(sint/;

  d.(cost-15()i*1!0/-&.(cost'/-g.(cost5/;d.(sint-15()i*1!0/-

&.(sint'/-g.(sint5/];

  =inA/(;

  t=1/;

  c=2/;

  t'=/;

  &=#/;

  e=0.01;

  hile abst/e 3 abst'/e

  t=t+t;% ariacion de tetha =t

  c=c+c;

  t'=t'+t';% ariacion de tetha ' =t'

  &=&+&;

  &1=a.(cost2/-b.(cost/+c;

  &2=a.(sint2/-b.(sint/;

  &=d.(cost-15()i*1!0/-&.(cost'/-g.(cost5/;

  &#=d.(sint-15()i*1!0/-&.(sint'/-g.(sint5/;

  A=[b.(sint/ -1 0 0;

  -b.(cost/ 0 0 0;

  -d(sint/ 0 &(sint'/ -cost'/;

  d(cost/ 0 -&(cost'/ -sint'/];

  =-[a.(cost2/-b.(cost/+c;a.(sint2/-b.(sint/;

  d.(cost-15()i*1!0/-&.(cost'/-g.(cost5/;d.(sint-15()i*1!0/-

&.(sint'/-g.(sint5/];

  =inA/(;

  t=1/;

  c=2/;

  t'=/;

  &=#/;

  %elocidades , el, ', el'

  %&5=-a(2.(sint2/+b((sint/+el=0;

  %&'=a(2.(cost2/-b((cost/=0;

  %&=-d(.(sint-15()i*1!0/+&('(sint'/-el'(cost'/=0;

  %&!=d(.(cost-15()i*1!0/-&('(sint'/-el'(sint'/=0;

  4=[b.(sint/ -1 0 0;

  -b.(cost/ 0 0 0;

  -d(sint/ 0 &(sint'/ -cost'/;

  d(cost/ 0 -&(cost'/ -sint'/];

  $=[a(2(sint2/;-a(2(cost2/;0;0];

  =in4/($;

  =1/;

  el=2/;

  '=/;

  el'=#/;

  %aceleraciones al&a ace al&a' ace'

  %&"=-a(al&a2(sint2/-

a(262(cost2/+b(al&a(sint/+b(62(cost/=0;

  %&10=a(al&a2(cost2/-a(262(sent2/-

b(al&a(cost/+b(62(sint/=0;

  %&11=-d(al&a(sint-15()i*1!0/-d(62(cost-

15()i*1!0/+&(al&a'(sint'/+&('62(cost'/+2(el'('(sint'/-

ace'(cost'/=0;

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  %&12=d(al&a(cost-15()i*1!0/-d(62(sint-15()i*1!0/-

&(al&a5(cost'/+&('62(sent'/-2(el'('(cost'/-ace'(sint'/=0;

  4a=[b.(sint/ -1 0 0;

  -b.(cost/ 0 0 0;

  -d(sint/ 0 &(sint'/ -cost'/;

  d(cost/ 0 -&(cost'/ -sint'/];

  7=[a(al&a2(sint2/+a(262(cost2/-b(62(cost/;  -a(al&a2(cost2/+a(262(sint2/-b(62(sint/;

  d(62(cost-15()i*1!0/-&('62(cost'/-2(el'('(sint'/;

  d(62(sint-15()i*1!0/-&('62(sint'/+2(el'('(cost'/];

 

8=in4a/(7;

  al&a=81/;

  ace=82/;

  al&a'=8/;

  ace'=8#/;

  end

 

M1=[t2(1!0*)i,t(1!0*)i,t'(1!0*)i,,el,',el',al&a,ace,al&a',el

'];

 

i& chi==0

  AM=M1;

  chi=1;

  else

  AM=[AM;M1];

  end

  t2=t2+5()i*1!0;

 

end

 dis) 9 t2 t t' el ' el' al&a ace al&a' ace' 9/

dis) AM/

t2=AM,1/;

t=AM,2/;

t'=AM,/;

=AM,#/;

el=AM,5/;

'=AM,'/;

el'=AM,/;

al&a=AM,!/;

ace=AM,"/;

ala&'=AM,10/;

ace'=AM,11/;

Resultados:

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