MONOGRAFIA

COMPONENTE 2 - COMPONENTE 3
Velocidad Aceleracion Fuerza Momento

Time ( s ) Grados ()
( deg/s ) ( deg/s^2 ) (N) ( N.mm )
0.00000 90.0 179.94 -269.02 0.461 2.30
0.05000 99.0 167.88 -215.94 0.559 2.80
0.10000 108.0 158.15 -174.96 0.644 3.22
0.15000 117.0 150.23 -143.07 0.718 3.59
0.20000 126.0 143.73 -118.00 0.787 3.94
0.25000 135.0 138.34 -98.08 0.852 4.26
0.30000 144.0 133.85 -82.09 0.915 4.57
0.35000 153.0 130.09 -69.10 0.976 4.88
0.40000 162.0 126.91 -58.43 1.036 5.18
0.45000 171.0 124.21 -49.56 1.095 5.48
0.50000 180.0 121.93 -42.08 1.154 5.77
0.55000 189.0 119.99 -35.70 1.212 6.06
0.60000 198.0 118.34 -30.15 1.268 6.34
0.65000 207.0 116.96 -25.23 1.324 6.62
0.70000 216.0 115.81 -20.77 1.378 6.89
0.75000 225.0 114.88 -16.59 1.430 7.15
0.80000 234.0 114.15 -12.52 1.480 7.40
0.85000 243.0 113.63 -8.37 1.528 7.64
0.90000 252.0 113.32 -3.91 1.573 7.87
0.95000 261.0 113.25 1.20 1.616 8.08
1.00000 270.0 113.46 7.47 1.657 8.28
1.05000 279.0 114.03 15.69 1.694 8.47
1.10000 288.0 115.08 27.26 1.729 8.64
1.15000 297.0 116.85 44.74 1.761 8.80
1.20000 306.0 119.74 73.18 1.790 8.95
1.25000 315.0 124.52 123.27 1.817 9.09
1.30000 324.0 132.81 219.49 1.846 9.23
1.35000 333.0 148.19 421.53 1.890 9.45
1.40000 342.0 178.99 868.19 2.020 10.10
1.45000 351.0 241.99 1707.95 2.468 12.34
1.50000 360.0 344.09 2139.76 2.476 12.38
1.55000 369.0 425.05 901.25 1.224 6.12
1.60000 378.0 434.73 -387.26 1.704 8.52
1.65000 387.0 399.74 -902.57 1.566 7.83
1.70000 396.0 352.08 -956.60 1.102 5.51
1.75000 405.0 306.87 -838.17 0.652 3.26
1.80000 414.0 268.82 -683.69 0.297 1.48
1.85000 423.0 238.25 -542.79 0.063 0.32
1.90000 432.0 214.10 -427.88 0.191 0.95
1.95000 441.0 195.05 -338.11 0.341 1.70
2.00000 450.0 179.94 -269.02 0.461 2.30
Componente 2-Componente 3
2500.00
2000.00
1500.00
1000.00
500.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
-500.00
-1000.00
-1500.00

Velocidad (deg/s^2) vs Grado ()
500.00
450.00
400.00
350.00
300.00
250.00
200.00
150.00
100.00
50.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
Aceleracion (deg/s^2) vs Grado ()

2500.00
2000.00
1500.00
1000.00
500.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
-500.00
-1000.00
-1500.00
Momento (Nmm) vs Grado ()
16.00
14.00
12.00
10.00
8.00
6.00
4.00
2.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
Fuerza (N) vs Grado ()

3.000
2.500
2.000
1.500
1.000
0.500
0.000
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
( deg/s ) ( deg/s^2 ) (N) ( N.mm )
0.00000 90.0 -180.00 0.00 0.699 4.04
0.05000 99.0 -180.00 0.00 0.798 8.01
0.10000 108.0 -180.00 0.00 0.882 15.29
0.15000 117.0 -180.00 0.00 0.956 23.66
0.20000 126.0 -180.00 0.00 1.024 32.22
0.25000 135.0 -180.00 0.00 1.089 40.39
0.30000 144.0 -180.00 0.00 1.151 47.68
0.35000 153.0 -180.00 0.00 1.212 53.72
0.40000 162.0 -180.00 0.00 1.272 58.21
0.45000 171.0 -180.00 0.00 1.331 60.95
0.50000 180.0 -180.00 0.00 1.390 61.77
0.55000 189.0 -180.00 0.00 1.448 60.62
0.60000 198.0 -180.00 0.00 1.505 57.50
0.65000 207.0 -180.00 0.00 1.561 52.48
0.70000 216.0 -180.00 0.00 1.615 45.72
0.75000 225.0 -180.00 0.00 1.668 37.49
0.80000 234.0 -180.00 0.00 1.719 28.21
0.85000 243.0 -180.00 0.00 1.767 18.92
0.90000 252.0 -180.00 0.00 1.813 13.10
0.95000 261.0 -180.00 0.00 1.857 17.09
1.00000 270.0 -180.00 0.00 1.898 27.26
1.05000 279.0 -180.00 0.00 1.936 38.91
1.10000 288.0 -180.00 0.00 1.971 50.55
1.15000 297.0 -180.00 0.00 2.004 61.56
1.20000 306.0 -180.00 0.00 2.034 71.51
1.25000 315.0 -180.00 0.00 2.062 80.08
1.30000 324.0 -180.00 0.00 2.092 87.03
1.35000 333.0 -180.00 0.00 2.137 92.40
1.40000 342.0 -180.00 0.00 2.265 97.60
1.45000 351.0 -180.00 0.00 2.694 109.82
1.50000 360.0 -180.00 0.00 2.700 118.99
1.55000 369.0 -180.00 0.00 1.408 44.78
1.60000 378.0 -180.00 0.00 1.646 44.52
1.65000 387.0 -180.00 0.00 1.433 65.43
1.70000 396.0 -180.00 0.00 0.937 50.42
1.75000 405.0 -180.00 0.00 0.479 28.39
1.80000 414.0 -180.00 0.00 0.175 10.81
1.85000 423.0 -180.00 0.00 0.247 0.62
1.90000 432.0 -180.00 0.00 0.429 4.75
1.95000 441.0 -180.00 0.00 0.579 4.99
2.00000 450.0 -180.00 0.00 0.699 4.04
Componente 1 - Componente 2
150.00
100.00
50.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
-50.00
-100.00
-150.00
-200.00

Velocidad (deg/s) vs Grado ()
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
-20.00
-40.00
-60.00
-80.00
-100.00
-120.00
-140.00
-160.00
-180.00
-200.00

1.00
0.90
0.80
0.70
0.60
0.50
0.40
0.30
0.20
0.10
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
3.500
3.000
2.500
2.000
1.500
1.000
0.500
0.000
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0

140.00
120.00
100.00
80.00
60.00
40.00
20.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
( deg/s ) ( deg/s^2 ) (N) ( N.mm )
0.00000 90.0 -157.03 235.10 1.415 0.89
0.05000 99.0 -144.68 258.24 1.304 0.49
0.10000 108.0 -131.25 278.47 1.215 0.27
0.15000 117.0 -116.88 296.09 1.141 1.31
0.20000 126.0 -101.69 311.26 1.080 2.60
0.25000 135.0 -85.79 324.07 1.029 4.07
0.30000 144.0 -69.32 334.54 0.984 5.71
0.35000 153.0 -52.38 342.69 0.946 7.47
0.40000 162.0 -35.09 348.52 0.912 9.33
0.45000 171.0 -17.56 352.01 0.881 11.27
0.50000 180.0 0.08 353.17 0.854 13.26
0.55000 189.0 17.71 351.99 0.828 15.29
0.60000 198.0 35.24 348.48 0.805 17.34
0.65000 207.0 52.52 342.63 0.782 19.38
0.70000 216.0 69.46 334.46 0.760 21.40
0.75000 225.0 85.93 323.97 0.739 23.38
0.80000 234.0 101.82 311.14 0.717 25.32
0.85000 243.0 117.01 295.95 0.695 27.19
0.90000 252.0 131.37 278.31 0.672 28.97
0.95000 261.0 144.79 258.06 0.648 30.67
1.00000 270.0 157.13 234.89 0.621 32.27
1.05000 279.0 168.22 208.20 0.592 33.76
1.10000 288.0 177.87 176.86 0.557 35.13
1.15000 297.0 185.80 138.69 0.515 36.38
1.20000 306.0 191.56 89.18 0.461 37.51
1.25000 315.0 194.37 18.61 0.387 38.56
1.30000 324.0 192.71 -95.59 0.270 39.58
1.35000 333.0 183.20 -309.24 0.049 40.74
1.40000 342.0 157.97 -755.86 0.448 42.44
1.45000 351.0 100.53 -1607.26 1.461 44.92
1.50000 360.0 -0.48 -2261.39 1.602 44.86
1.55000 369.0 -101.21 -1598.73 1.095 36.95
1.60000 378.0 -158.29 -750.45 3.005 26.54
1.65000 387.0 -183.33 -306.70 3.317 17.83
1.70000 396.0 -192.75 -94.31 3.022 11.23
1.75000 405.0 -194.36 19.35 2.616 6.46
1.80000 414.0 -191.52 89.67 2.253 3.15
1.85000 423.0 -185.74 139.05 1.961 0.99
1.90000 432.0 -177.80 177.16 1.733 0.29
1.95000 441.0 -168.13 208.44 1.555 0.86
2.00000 450.0 -157.03 235.10 1.415 0.89
Componente 3-Componente 4
500.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
-500.00
-1000.00
-1500.00
-2000.00
-2500.00

Velocidad (deg/s) vs Grados ()
250.00
200.00
150.00
100.00
50.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
-50.00
-100.00
-150.00
-200.00
-250.00

500.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
-500.00
-1000.00
-1500.00
-2000.00
-2500.00
3.500
3.000
2.500
2.000
1.500
1.000
0.500
0.000
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0

50.00
45.00
40.00
35.00
30.00
25.00
20.00
15.00
10.00
5.00
0.00
0.0 100.0 200.0 300.0 400.0 500.0
( deg/s ) ( deg/s^2 ) (N) ( N.mm )
0.00000 90.0 0.06 269.02 2.810 22.28
0.05000 99.0 12.12 215.94 2.699 21.39
0.10000 108.0 21.85 174.96 2.609 20.67
0.15000 117.0 29.77 143.07 2.534 20.08
0.20000 126.0 36.27 118.00 2.471 19.57
0.25000 135.0 41.66 98.08 2.417 19.14
0.30000 144.0 46.15 82.09 2.370 18.76
0.35000 153.0 49.91 69.10 2.327 18.42
0.40000 162.0 53.09 58.43 2.287 18.10
0.45000 171.0 55.79 49.56 2.250 17.81
0.50000 180.0 58.07 42.08 2.215 17.53
0.55000 189.0 60.01 35.70 2.180 17.25
0.60000 198.0 61.66 30.15 2.146 16.98
0.65000 207.0 63.04 25.23 2.112 16.70
0.70000 216.0 64.19 20.77 2.077 16.43
0.75000 225.0 65.12 16.59 2.042 16.14
0.80000 234.0 65.85 12.52 2.005 15.85
0.85000 243.0 66.37 8.37 1.968 15.55
0.90000 252.0 66.68 3.91 1.929 15.24
0.95000 261.0 66.75 -1.20 1.888 14.92
1.00000 270.0 66.54 -7.47 1.846 14.58
1.05000 279.0 65.97 -15.69 1.802 14.22
1.10000 288.0 64.92 -27.26 1.755 13.85
1.15000 297.0 63.15 -44.74 1.705 13.45
1.20000 306.0 60.26 -73.18 1.652 13.03
1.25000 315.0 55.48 -123.27 1.593 12.55
1.30000 324.0 47.19 -219.49 1.524 12.00
1.35000 333.0 31.81 -421.53 1.440 11.32
1.40000 342.0 1.02 -868.19 1.393 10.95
1.45000 351.0 -61.99 -1707.95 1.762 13.98
1.50000 360.0 -164.09 -2139.76 1.773 14.09
1.55000 369.0 -245.05 -901.25 2.184 17.29
1.60000 378.0 -254.73 387.26 4.058 32.30
1.65000 387.0 -219.74 902.57 4.506 35.86
1.70000 396.0 -172.08 956.60 4.311 34.30
1.75000 405.0 -126.87 838.17 3.963 31.51
1.80000 414.0 -88.82 683.69 3.628 28.83
1.85000 423.0 -58.25 542.79 3.349 26.59
1.90000 432.0 -34.10 427.88 3.125 24.81
1.95000 441.0 -15.04 338.11 2.949 23.40
2.00000 450.0 0.06 269.02 2.810 22.28
Componente 4 - Componente 1
1500.00
1000.00
500.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
-500.00
-1000.00
-1500.00
-2000.00
-2500.00

Velocidad (deg/s) vs Grado ()
100.00
50.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
-50.00
-100.00
-150.00
-200.00
-250.00
-300.00

1500.00
1000.00
500.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
-500.00
-1000.00
-1500.00
-2000.00
-2500.00
5.000
4.500
4.000
3.500
3.000
2.500
2.000
1.500
1.000
0.500
0.000
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0

40.00
35.00
30.00
25.00
20.00
15.00
10.00
5.00
0.00
0.0 50.0 100.0 150.0 200.0 250.0 300.0 350.0 400.0 450.0 500.0
Result listing SAM 6.1.55 . Mechanism: listo con graficas 1
Vel. Ace. Velocidad

Item Angulo () Torque Longitud biela Fuerza nodo 1 Fuerza nodo 2 Vel. Nodo 3 Ac. Nodo 3 Fuerza nodo 3 Vel. Nodo 4 Ace. Nodo 4 Fuerza nodo 4 Angulo Biela Ac. Angular 3 Vel. Angular 4 Ac. Angular 4
Deslizamiento Dezlizamiento Angular 3
Nr: A(2) T1(2) L(3) EV(3) EA(3) F_abs(1) F_abs(2) V_abs(3) A_abs(3) F_abs(3) V_abs(4) A_abs(4) F_abs(4) A(3) AV(3) AA(3) AV(4) AA(4)
[-] [deg] [Nmm] [mm] [mm/s] [mm/s2] [N] [N] [mm/s] [mm/s2] [N] [mm/s] [mm/s2] [N] [deg] [rad/s] [rad/s2] [rad/s] [rad/s2]
0 90 0 105 157.08 -234.991 1.432 0.111 157.08 493.48 0.096 0 234.991 1.393 0 0 4.7 0 4.7
1 95 0.135 109.271 150.366 -249.892 1.425 0.118 157.08 493.48 0.096 6.14 207.739 1.393 0.1 0.123 4.155 0.123 4.155
2 100 0.2 113.35 143.297 -266.61 1.417 0.128 157.08 493.48 0.096 11.575 184.191 1.393 0.383 0.232 3.683 0.232 3.683
3 105 0.19 117.229 135.9 -284.556 1.408 0.14 157.08 493.48 0.096 16.401 163.842 1.392 0.83 0.328 3.275 0.328 3.275
4 110 0.104 120.898 128.197 -303.239 1.398 0.152 157.08 493.48 0.096 20.697 146.269 1.391 1.422 0.414 2.92 0.414 2.92
5 115 -0.055 124.348 120.211 -322.254 1.388 0.166 157.08 493.48 0.096 24.534 131.123 1.391 2.143 0.491 2.611 0.491 2.611
6 120 -0.285 127.574 111.964 -341.265 1.377 0.181 157.08 493.48 0.096 27.969 118.113 1.39 2.98 0.559 2.341 0.559 2.341
7 125 -0.582 130.566 103.477 -359.995 1.367 0.197 157.08 493.48 0.096 31.053 106.994 1.389 3.92 0.621 2.105 0.621 2.105
8 130 -0.943 133.32 94.769 -378.217 1.356 0.213 157.08 493.48 0.096 33.829 97.561 1.389 4.953 0.677 1.897 0.677 1.897
9 135 -1.362 135.829 85.862 -395.744 1.345 0.23 157.08 493.48 0.096 36.333 89.635 1.388 6.071 0.727 1.713 0.727 1.713
10 140 -1.835 138.089 76.775 -412.42 1.334 0.247 157.08 493.48 0.096 38.598 83.06 1.387 7.264 0.772 1.551 0.772 1.551
11 145 -2.358 140.093 67.528 -428.118 1.323 0.264 157.08 493.48 0.096 40.649 77.691 1.387 8.525 0.813 1.406 0.813 1.406
12 150 -2.926 141.839 58.141 -442.735 1.311 0.281 157.08 493.48 0.096 42.511 73.392 1.386 9.849 0.85 1.277 0.85 1.277
13 155 -3.535 143.322 48.634 -456.183 1.3 0.299 157.08 493.48 0.096 44.204 70.034 1.386 11.23 0.884 1.162 0.884 1.162
14 160 -4.18 144.54 39.028 -468.392 1.289 0.317 157.08 493.48 0.096 45.745 67.49 1.386 12.662 0.915 1.059 0.915 1.059
15 165 -4.858 145.49 29.341 -479.305 1.278 0.335 157.08 493.48 0.096 47.15 65.639 1.385 14.141 0.943 0.966 0.943 0.966
16 170 -5.563 146.169 19.594 -488.876 1.266 0.353 157.08 493.48 0.096 48.432 64.367 1.385 15.662 0.969 0.881 0.969 0.881
17 175 -6.293 146.578 9.807 -497.067 1.255 0.371 157.08 493.48 0.096 49.602 63.568 1.385 17.223 0.992 0.805 0.992 0.805
18 180 -7.043 146.714 0 -503.85 1.244 0.389 157.08 493.48 0.096 50.671 63.147 1.384 18.819 1.013 0.735 1.013 0.735
19 185 -7.81 146.578 -9.807 -509.203 1.234 0.407 157.08 493.48 0.096 51.647 63.021 1.384 20.448 1.033 0.671 1.033 0.671
20 190 -8.59 146.169 -19.594 -513.11 1.223 0.426 157.08 493.48 0.096 52.537 63.119 1.384 22.106 1.051 0.612 1.051 0.612
21 195 -9.38 145.49 -29.341 -515.558 1.213 0.444 157.08 493.48 0.096 53.349 63.381 1.384 23.792 1.067 0.558 1.067 0.558
22 200 -10.175 144.54 -39.028 -516.542 1.203 0.463 157.08 493.48 0.096 54.088 63.759 1.384 25.502 1.082 0.507 1.082 0.507
23 205 -10.973 143.322 -48.634 -516.058 1.193 0.481 157.08 493.48 0.096 54.758 64.211 1.384 27.234 1.095 0.459 1.095 0.459
24 210 -11.771 141.839 -58.141 -514.106 1.184 0.5 157.08 493.48 0.096 55.364 64.705 1.384 28.987 1.107 0.414 1.107 0.414
25 215 -12.564 140.093 -67.528 -510.687 1.175 0.519 157.08 493.48 0.096 55.909 65.213 1.384 30.758 1.118 0.371 1.118 0.371
26 220 -13.351 138.089 -76.775 -505.806 1.167 0.539 157.08 493.48 0.096 56.396 65.714 1.384 32.546 1.128 0.33 1.128 0.33
27 225 -14.126 135.829 -85.862 -499.467 1.159 0.558 157.08 493.48 0.096 56.826 66.189 1.384 34.348 1.137 0.29 1.137 0.29
28 230 -14.888 133.32 -94.769 -491.675 1.152 0.579 157.08 493.48 0.096 57.201 66.625 1.384 36.163 1.144 0.25 1.144 0.25
29 235 -15.632 130.566 -103.477 -482.434 1.146 0.599 157.08 493.48 0.096 57.521 67.009 1.385 37.989 1.15 0.211 1.15 0.211
30 240 -16.356 127.574 -111.964 -471.748 1.14 0.621 157.08 493.48 0.096 57.787 67.331 1.385 39.824 1.156 0.171 1.156 0.171
31 245 -17.055 124.348 -120.211 -459.613 1.136 0.644 157.08 493.48 0.096 57.996 67.582 1.385 41.667 1.16 0.13 1.16 0.13
32 250 -17.725 120.898 -128.197 -446.025 1.133 0.667 157.08 493.48 0.096 58.146 67.759 1.386 43.515 1.163 0.087 1.163 0.087
33 255 -18.363 117.229 -135.9 -430.967 1.132 0.692 157.08 493.48 0.096 58.235 67.857 1.386 45.368 1.165 0.04 1.165 0.04
34 260 -18.963 113.35 -143.297 -414.413 1.132 0.718 157.08 493.48 0.096 58.257 67.879 1.387 47.222 1.165 -0.01 1.165 -0.01
35 265 -19.522 109.271 -150.366 -396.32 1.134 0.747 157.08 493.48 0.096 58.205 67.837 1.387 49.076 1.164 -0.066 1.164 -0.066
36 270 -20.031 105 -157.08 -376.619 1.138 0.777 157.08 493.48 0.096 58.07 67.754 1.388 50.927 1.161 -0.13 1.161 -0.13
37 275 -20.486 100.548 -163.411 -355.211 1.145 0.811 157.08 493.48 0.096 57.84 67.681 1.388 52.772 1.157 -0.204 1.157 -0.204
38 280 -20.876 95.925 -169.327 -331.945 1.156 0.848 157.08 493.48 0.096 57.497 67.711 1.389 54.608 1.15 -0.292 1.15 -0.292
39 285 -21.191 91.145 -174.792 -306.599 1.17 0.889 157.08 493.48 0.096 57.02 68.015 1.39 56.431 1.14 -0.399 1.14 -0.399
40 290 -21.419 86.219 -179.759 -278.849 1.189 0.936 157.08 493.48 0.096 56.378 68.896 1.392 58.236 1.128 -0.531 1.128 -0.531
41 295 -21.54 81.163 -184.172 -248.212 1.213 0.989 157.08 493.48 0.096 55.528 70.887 1.393 60.018 1.111 -0.699 1.111 -0.699
42 300 -21.531 75.993 -187.959 -213.967 1.245 1.05 157.08 493.48 0.096 54.412 74.885 1.395 61.768 1.088 -0.917 1.088 -0.917
43 305 -21.358 70.728 -191.022 -175.02 1.286 1.121 157.08 493.48 0.096 52.948 82.326 1.397 63.478 1.059 -1.206 1.059 -1.206
44 310 -20.972 65.389 -193.223 -129.681 1.339 1.206 157.08 493.48 0.096 51.016 95.373 1.4 65.134 1.02 -1.598 1.02 -1.598
45 315 -20.3 60.003 -194.366 -75.292 1.408 1.309 157.08 493.48 0.096 48.437 117.13 1.404 66.719 0.969 -2.146 0.969 -2.146
46 320 -19.228 54.603 -194.159 -7.574 1.498 1.436 157.08 493.48 0.096 44.944 152.084 1.41 68.208 0.899 -2.932 0.899 -2.932
47 325 -17.572 49.233 -192.151 80.478 1.618 1.596 157.08 493.48 0.096 40.12 207.102 1.419 69.566 0.802 -4.092 0.802 -4.092
48 330 -15.011 43.951 -187.631 200.472 1.781 1.803 157.08 493.48 0.096 33.304 293.281 1.431 70.741 0.666 -5.849 0.666 -5.849
49 335 -10.964 38.843 -179.451 371.417 2.008 2.079 157.08 493.48 0.096 23.429 428.737 1.45 71.654 0.469 -8.572 0.469 -8.572
50 340 -4.329 34.033 -165.754 622.36 2.328 2.456 157.08 493.48 0.096 8.788 641.152 1.48 72.182 0.176 -12.823 0.176 -12.823
51 345 6.972 29.712 -143.674 987.7 2.779 2.97 157.08 493.48 0.096 13.209 963.045 1.524 72.136 -0.264 -19.261 -0.264 -19.261
52 350 26.232 26.163 -109.467 1470.438 3.36 3.621 157.08 493.48 0.096 45.775 1395.816 1.58 71.229 -0.916 -27.904 -0.916 -27.904
53 355 55.473 23.769 -60.477 1939.791 3.898 4.232 157.08 493.48 0.096 90.585 1811.955 1.628 69.089 -1.812 -36.09 -1.812 -36.09
54 360 86.873 22.913 0.001 2074.515 3.957 4.364 157.08 493.48 0.096 142.8 1912.912 1.618 65.38 -2.856 -37.379 -2.856 -37.379
55 365 101.701 23.769 60.479 1677.292 3.275 3.756 157.08 493.48 0.096 189.245 1567.845 1.525 60.06 -3.785 -27.893 -3.785 -27.893
56 370 92.876 26.163 109.469 996.589 2.227 2.777 157.08 493.48 0.096 217.65 1142.666 1.395 53.528 -4.353 -12.776 -4.353 -12.776
57 375 71.567 29.712 143.675 385.042 1.323 1.899 157.08 493.48 0.096 225.57 1018.28 1.294 46.424 -4.511 0.721 -4.511 0.721
58 380 49.538 34.033 165.754 -22.133 0.821 1.273 157.08 493.48 0.096 217.761 1066.485 1.245 39.335 -4.355 9.756 -4.355 9.756
59 385 31.82 38.843 179.451 -243.997 0.77 0.862 157.08 493.48 0.096 200.393 1087.403 1.241 32.662 -4.008 14.661 -4.008 14.661
60 390 19.147 43.952 187.632 -339.482 0.923 0.597 157.08 493.48 0.096 178.387 1047.593 1.261 26.626 -3.568 16.642 -3.568 16.642
61 395 10.681 49.233 192.151 -360.961 1.081 0.426 157.08 493.48 0.096 155 968.101 1.289 21.319 -3.1 16.809 -3.1 16.809
62 400 5.303 54.603 194.159 -344.936 1.204 0.313 157.08 493.48 0.096 132.158 871.425 1.316 16.752 -2.643 15.967 -2.643 15.967
63 405 2.053 60.003 194.366 -314.008 1.291 0.238 157.08 493.48 0.096 110.869 772.175 1.339 12.889 -2.217 14.64 -2.217 14.64
64 410 0.214 65.389 193.223 -280.922 1.351 0.188 157.08 493.48 0.096 91.568 678.191 1.357 9.673 -1.831 13.143 -1.831 13.143
65 415 -0.718 70.728 191.022 -252.132 1.391 0.155 157.08 493.48 0.096 74.358 592.976 1.37 7.038 -1.487 11.651 -1.487 11.651
66 420 -1.083 75.993 187.959 -230.353 1.417 0.132 157.08 493.48 0.096 59.158 517.575 1.379 4.918 -1.183 10.256 -1.183 10.256
67 425 -1.111 81.164 184.172 -216.228 1.432 0.118 157.08 493.48 0.096 45.805 451.768 1.385 3.252 -0.916 8.996 -0.916 8.996
68 430 -0.952 86.219 179.759 -209.34 1.44 0.109 157.08 493.48 0.096 34.101 394.76 1.389 1.984 -0.682 7.881 -0.682 7.881
69 435 -0.708 91.145 174.791 -208.8 1.443 0.104 157.08 493.48 0.096 23.846 345.55 1.391 1.066 -0.477 6.907 -0.477 6.907
70 440 -0.442 95.926 169.327 -213.565 1.441 0.103 157.08 493.48 0.096 14.854 303.125 1.393 0.453 -0.297 6.062 -0.297 6.062
71 445 -0.198 100.548 163.411 -222.609 1.438 0.106 157.08 493.48 0.096 6.955 266.548 1.393 0.108 -0.139 5.331 -0.139 5.331
.. 72 450 0 105 157.08 -234.992 1.432 0.111 157.08 493.48 0.096 0 234.99 1.393 0 0 4.7 0 4.7
Torque (Nmm) vs Angulo ()
120
100
80
60
40
20
0
0 50 100 150 200 250 300 350 400 450 500
-20
-40
Longitud biela (mm) vs Angulo ()

160
140
120
100
80
60
40
20
0
0 50 100 150 200 250 300 350 400 450 500
Velocidad deslizamiento 3 (mm/s) vs Angulo ()
250
200
150
100
50
0
0 50 100 150 200 250 300 350 400 450 500
-50
-100
-150
-200
-250
Aceleracion deslizamiento 3 (mm/s^2) vs

Angulo ()
2500
2000
1500
1000
500
0
0 50 100 150 200 250 300 350 400 450 500
-500
-1000
Fuerza Nodo 1 (N) vs Angulo ()
4.5
3.5
2.5
1.5
0.5
0
0 50 100 150 200 250 300 350 400 450 500

5
4.5
3.5
2.5
1.5
0.5
0
0 50 100 150 200 250 300 350 400 450 500
Velocidad Nodo 3 (mm/s) vs Angulo ()
180
160
140
120
100
80
60
40
20
0
0 50 100 150 200 250 300 350 400 450 500
Aceleracion Nodo 3 (mm/s^2) vs Angulo ()

600
500
400
300
200
100
0
0 50 100 150 200 250 300 350 400 450 500
0.12
0.1
0.08
0.06
0.04
0.02
0
0 50 100 150 200 250 300 350 400 450 500
Velocidad Nodo 4 (mm/s) vs Angulo ()

250
200
150
100
50
0
0 50 100 150 200 250 300 350 400 450 500
Aceleracion Nodo 4 (mm/s^2) vs angulo ()
2500
2000
1500
1000
500
0
0 50 100 150 200 250 300 350 400 450 500

1.8
1.6
1.4
1.2
0.8
0.6
0.4
0.2
0
0 50 100 150 200 250 300 350 400 450 500
Angulo Biela () vs Angulo ()
80
70
60
50
40
30
20
10
0
0 50 100 150 200 250 300 350 400 450 500
Velocidad angular 3 (rad/s) vs Angulo ()

2
0
0 50 100 150 200 250 300 350 400 450 500
-1
-2
-3
-4
-5
Aceleracion Angular 3 (rad/s^2) vs Angulo ()
20
10
0
0 50 100 150 200 250 300 350 400 450 500
-10
-20
-30
-40
-50
Velocidad Angular 4 (rad/s) vs Angulo ()

2
0
0 50 100 150 200 250 300 350 400 450 500
-1
-2
-3
-4
-5
Velocidad Angular 4 (rad/s) vs Angulo ()
2
0
0 50 100 150 200 250 300 350 400 450 500
-1
-2
-3
-4
-5
Aceleracion Angular 4 (rad/s^2) vs Angulo ()

20
10
0
0 50 100 150 200 250 300 350 400 450 500
-10
-20
-30
-40
-50

MONOGRAFIA

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MONOGRAFIA

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COMPONENTE 2 - COMPONENTE 3

Velocidad Aceleracion Fuerza Momento

Velocidad Aceleracion Fuerza Momento

Aceleracion (deg/s^2) vs Grado ()

Fuerza (N) vs Grado ()

Velocidad Aceleracion Fuerza Momento

Aceleracion (deg/s^2) vs Grado ()

Momento (Nmm) vs Grado ()

Velocidad Aceleracion Fuerza Momento

Aceleracion (deg/s^2) vs Grado ()

Aceleracion (deg/s^2) vs Grado ()

Velocidad Aceleracion Fuerza Momento

Aceleracion (deg/s^2) vs Grado ()

Momento (Nmm) vs Grado ()

Vel. Ace. Velocidad

Longitud biela (mm) vs Angulo ()

Aceleracion deslizamiento 3 (mm/s^2) vs

Fuerza Nodo 2 (N) vs Angulo ()

Aceleracion Nodo 3 (mm/s^2) vs Angulo ()

Velocidad Nodo 4 (mm/s) vs Angulo ()

Fuerza Nodo 4 (N) vs Angulo ()

Velocidad angular 3 (rad/s) vs Angulo ()

Velocidad Angular 4 (rad/s) vs Angulo ()

Aceleracion Angular 4 (rad/s^2) vs Angulo ()

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