Adn Prez Mndez

Tarea 4

Mircoles 30 de Enero de 2013

Dinmica de Maquinaria

Matrices
Mecanismo de cuatro barras
MO2 = 0 , MA = 0 y MO4 = 0
2 O2x O2y

Ax

0
0
1
0
0
0
0
0
0

1
0
0
0
0
1
0
0
-r2y r2x 0
0
-1 0
1
0
0 -1 0
1
0
0 -r3y r3x
0
0 -1
0
0
0
0
-1
0
0 r4y -r4x

1
0
0
0
0
0
0
0
0

0
1
0
0
0
0
0
0
0

Ay

Bx

By

O4x O4y
0
0
0
0
0
0
1
0
0

0
0
0
0
0
0
0
1
0

2
O2x
O2y
Ax
Ay
Bx
By
O4x
O4y

R2x
R2y
RM2
R3x
R3y
RM3
R4x
R4y
RM4

M=0 en los centros de masa de cada eslabn

2

O2x

O2y

Ax

Ay

Bx

By

O4x

O4y

0
0
1
0
0
0
0
0
0

1
0
1
0
0
0
0
0
0
1
0
1
0
0
0
0
-rO2y r O2x -rA2y r A2x
0
0
0
0
0
0
-1
0
1
0
0
0
0
0
0
-1
0
1
0
0
0
0 -rA3y rA3x -rB3y r B3x
0
0
0
0
0
0
-1
0
1
0
0
0
0
0
0
-1
0
1
0
0
0
0
rB4y -r B4x rO4y -r O4x

2
O2x
O2y
Ax
Ay
Bx
By
O4x
O4y

R2x
R2y
RM2
R3x
R3y
RM3
R4x
R4y
RM4

Adn Prez Mndez

Tarea 4

Mircoles 30 de Enero de 2013

Dinmica de Maquinaria

Mecanismo manivela, biela, corredera

MO2 = 0 , MA = 0
2 O2x O2y

Ax

0
0
1
0
0
0
0
0

1
0
0
1
-r2y r2x
-1 0
0 -1
0
0
0
0
0
0

1
0
0
0
0
0
0
0

0
1
0
0
0
0
0
0

Ay

Bx

By

0
0
0
0
0
0
1
0
0
1
-r3y r3x
-1 0
0 -1

0
0
0
0
0
0
1
0

2
O2x
O2y
Ax
Ay
Bx
By
N

R2x
R2y
RM2
R3x
R3y
RM3
R4x
R4y

M=0 en los centros de masa de cada eslabn

2

O2x

O2y

Ax

Ay

Bx

By

0
0
1
0
0
0
0
0

1
0
1
0
0
0
0
1
0
1
0
0
-rO2y r O2x -rA2y r A2x
0
0
0
0
-1
0
1
0
0
0
0
-1
0
1
0
0 -rA3y rA3x -rB3y r B3x
0
0
0
0
-1
0
0
0
0
0
0
-1

0
0
0
0
0
0
1
0

2
O2x
O2y
Ax
Ay
Bx
By
N

R2x
R2y
RM2
R3x
R3y
RM3
R4x
R4y