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++ = 0
+ = 0
+ + = 0
+ + = 0
+ = 0
Donde: = cos( ) + ( )
=
1
2
3
=
4
5
6
Resolviendo la ecuacin:
= 1
Obtenemos los valores verdaderos de los ngulos de cada eslabn:
= 13.4364
= 21.1195
= 38.8805
= 46.5636
= 46.5636
= 13.4364
Con estos valores podemos hallar las velocidades angulares de cada eslabn:
+ = 0
+ = 0
+ = 0
( ) ( ) + ( ) = 0
( ) + cos( ) cos( ) = 0
( ) ( ) + ( ) = 0
( ) + cos( ) cos( ) = 0
( ) ( ) + ( ) + ( ) = 0
( ) + cos( ) ( ) cos( ) = 0
( ) ( ) 0 0 0 0
bcos( ) ( )
0 0 0 0
( ) ( )
0 0 0 0
0 0 0 fcos( ) ( ) 0
( ) 0 ( ) ( )
0 ( )
bcos( ) 0 icos( ) hcos( ) [ ]
[ 0 ( ) ]
( )
cos( )
)
= (
cos( )
0
[ 0 ]
Aceleraciones:
2 + 2 + 2 = 0
2 + 2 + 2 = 0
2 + 2 + 2 +
2 = 0
2 cos sin 2 cos + sin + 2 cos = 0
2 sin + cos 2 sen cos + 2 sin = 0
2 cos sin 2 cos + sin + 2 cos = 0
2 sin + cos 2 sen cos + 2 sin = 0
sin 2 cos sin 2 cos + sin +
2 cos + sin + 2 cos = 0
+ cos 2 sin + cos 2 sin cos +
2 sin cos + 2 sin = 0
( ) ( ) 0 0 0 0
cos( ) ( ) 0 0 0 0
0 0 ( ) ( ) 0
0
0 0 0 cos( ) ( ) 0
( ) 0 ( ) ( ) ( )
0
[ ]
[ cos( ) 0 cos( ) 0 ( ) cos ( ) ]
2 2 2
cos + cos cos
2 sin + 2 sen 2 sin
2 cos + 2 cos 2 cos
=
2 sin + 2 sen 2 sin
2 cos + 2 cos 2 cos 2 cos
2 2 2 2
[ sin + sin sin sin ]