Ecuaciones a utilizar:

r 8 +

r 6 =
ra
r 8ei +r 6e i =r aei
8

( a)
( 6 )=r acos
( 8 )+r 6cos
IR :r 8cos
( a )
( 6 )=r asin
( 8 )+r 6sin
II :r 8sin

r5 +

r4
=
ra
2

r
r 5ei + 4 e i =r aei
2
5

( a )
( 4)=r acos
r
( 5 )+ 4 cos
2
IR :r 5cos
( a)
( 4)=r asin
r
( 5 )+ 4 sin
2
II : r 5sin

r7 +

r4
=
r5
2

r
r 7ei + 4 ei =r 5e i
2
7

( 5 )
( 4 )=r 5cos
r4
( 7 )+ cos
2
IR : r 7cos

( 5)
( 4 )=r 5sin
r
( 7 )+ 4 sin
2
II :r 7sin
r 9 +

r 7 =
r1
r 9ei +r 7e i =r 1ei
9

( 1 )
( 7 )=r 1cos
( 9 )+r 7cos
IR :r 9cos
( 1 )
( 7 )=r 1sin
( 9 )+r 7sin
II :r 9sin
r 2 +

r 3=
r1
r 2ei +r 3ei =r 1e i
2

( 1 )
( 3 )=r 1cos
( 2 )+ r 3cos
IR :r 2cos
( 1 )
( 3 )=r 1sin
( 2 )+ r 3sin
II :r 2sin
INCOGNITA POSICIO
S:
N1

ngulos

0.776671
52

radianes
sexagesim
ales

0.16708
882
9.57348
431

-44.5

0.39934
169
22.8805
934

1.18890
793
68.1194
066

0.79412
481

2.36492
114

0.79412
481

45.5

135.5

45.5

r1 (cm) r7 (cm) ra (cm)

31.0976 38.4608
92.308

COMPROBANDO CON LAS INCOGNITAS DE LA POSICION 2:

POSICIO
NES
r2
r3
r4
r5
r6
r8
r9
ngulos

ANGULO
S
rad
26.5 2
26.5 8
100 9
50
27
65.308
69.5584

(cm)

radianes
sexagesim
ales

3.83972435
0.79412481
5.50651379

1.321650
78
75.72501
16

4
5
6
7
a
0.199840 0.490198 1.567359 1.626052 2.599575 1.028778
6
4
54
96
3
97
11.45002 28.08629 89.80308 93.16597 148.9446 58.94469
3
94
68
17
93
31

r1 (cm) r7 (cm) ra (cm)

23.00477 51.29180 85.84375
67
19
96

Comparando con el mtodo grfico se encuentra un error del 0.615%

POSICIONES PARA UN CICLO COMPLETO:
2
7.0154E05

0
9.99980 14.680088
676
1

2
129.999
631
139.999
986

6
89.47731
96
95.19870
38

260.000 243.08203
044
2
270.000 276.28271
019
4

19.9999 32.880098
877
8
30.0000 45.929460
138
7
40.0009 53.366318
278
6
50.0000 58.542656
012
8
60.0000 62.704624
716
4
69.9990 66.372231
515
1
79.9998 69.823281
562
4
89.9999 73.238066
962
5
99.9999 76.760823
995
9
110.000 80.529240
299
8
119.999 84.698259
105
4

149.999
607
159.999
972
169.999
996
179.999
676
190.000
017
199.999
552
209.999
922
220
229.999
959
239.999
552
249.999
623

102.5296
96
113.3780
24
139.0510
29
165.0404
95
176.3442
21
184.6069
33
191.8970
14
199.0563
06
206.6717
19
215.3875
2
226.3184
37

279.999 291.83472
996
4
289.999 301.10046
567
7
299.999 308.63516
999
4
310.000 315.63851
001
2
319.999 322.70349
521
4
330.000 330.25477
018
4
340.000 338.67714
157
4
350.000 348.39290
286
4
360

-360

Diagrama Cinemtico de Posiciones

0

60

120 180 240 300 360

90 150 210 270 330

Elemento de salida (6)

-3 -2 -1
60 70 80 -90

30

Elemento de entrada (2)

Para velocidades: (2 = 10rad/s)

Ecuaciones a utilizar (derivada de las posiciones):
r 6 6 ( i ei ) =r a a ( i ei ) + r a e i
6

IR :r 6 6 (sin ( 6 ) )=r a a (sin ( a ) ) + r a cos ( a )

II :r 6 6 ( cos ( 6 ) )=r a a ( cos ( a ) ) + r a sin ( a )

r a a ( i ei ) + r a ei =r 5 5 ( i e i ) +
a

r4
( ie i )
2 4
4

IR :r a a ( sin ( a ) ) + r a cos ( a )=r 5 5 ( sin ( 5 ) ) +

II :r a a ( cos ( a ) ) + r a sin ( a )=r 5 5 ( cos ( 5 ) ) +

r 7 7 ( i ei ) + r 7 e i +
7

r4
( sin ( 4 ) )
2 4

r4
( cos ( 4 ) )
2 4

r4
4 ( ie i )=r 5 5 ( i e i )
2
4

IR :r 7 7 (sin ( 7 ) ) + r 7 cos ( 7 ) +
II :r 7 7 ( cos ( 7 ) ) + r 7 sin ( 7 ) +

r4
( sin ( 4 ) )=r 5 5 ( sin ( 5 ) )
2 4

r4
( cos ( 4 ) ) =r 5 5 ( cos ( 5 ) )
2 4

r 1 1 ( ie i ) + r 1 e i =r 7 7 ( i ei ) + r 7 e i
1

IR :r 1 1 ( sin ( 1 ) ) + r 1 cos ( 1) =r 7 7 (sin ( 7 ) ) + r 7 cos ( 7 )

II :r 1 1 ( cos ( 1 ) ) + r 1 sin ( 1 ) =r 7 7 ( cos ( 7 ) ) + r 7 sin ( 7 )
r 1 1 ( ie i ) + r 1 e i =r 2 2 ( i ei ) +r 3 3 ( i ei )
1

IR :r 1 1 ( sin ( 1 ) ) + r 1 cos ( 1) =r 2 2 (sin ( 2 ) ) + r 3 3 ( sin ( 3 ) )

II :r 1 1 ( cos ( 1 ) ) + r 1 sin ( 1 ) =r 2 2 ( cos ( 2) ) +r 3 3 ( cos ( 3 ) )
INCOGNITA POSICIO
S:
N1

Velocida
des

1
(rad/s
)

3
(rad/s
)

10

4 (rad/s)
8.0855312
10
5

5
(rad/s)

6
(rad/s)

7
(rad/s)

a
(rad/s)

r1
(cm/s)

r7
ra
(cm/s) (cm/s)

8.085531
25

27.64293
4

8.085531
25

8.085531
25

1.55364E13

COMPROBANDO CON LAS INCOGNITAS DE LA POSICION 2:

Velocida
des

1
(rad/s)

3
(rad/s)

4
(rad/s)

8.67179
72

7.34359
44

0.26234
48

5
(rad/s)
4.05591
9

6
(rad/s)
7.29332
3

7
(rad/s)
1.89678
7

a
(rad/s)
1.89678
7

r1
(cm/s)

r7
(cm/s)

ra
(cm/s)

63.41775
722

185.3480
42

110.7457
91

Comparando con el mtodo grfico se encuentra un error del 1.19%

VELOCIDADES PARA UN CICLO COMPLETO:

2

6
(rad/s)

6
(rad/s)

6
(rad/s)

7.0154E- 14.97102 129.9996 1.872312 260.0000 23.61332

05
5
31
5
44
7
9.999806 40.10466 139.9999 3.794201 270.0000 24.18514
76
3
86
3
19
6
19.99998 7.256064 149.9996
- 279.9999
-

77

62

07

30.00001 0.479662
38
03
40.00092 1.772346
78
7
50.00000 3.679256
12
0
60.00007 5.920133
16
1
69.99905 9.335948
15
7
79.99985 17.50162
62
7
89.99999 243.4556
62
4

159.9999
72
169.9999
96
179.9996
76
190.0000
17
199.9995
52
209.9999
22
220

99.99999 13.72809 229.9999

95
98
59
110.0002
239.9995
99 3.985412
52
119.9991 0.376274 249.9996
05
31
23

6.052741
1
10.36286
2
43.06651
2
14.56706
4
9.220616
7
7.590605
4
7.118724
4
7.293323
6
8.039787
1
9.559406
3
12.75050
1

96
289.9995
67
299.9999
99
310.0000
01
319.9995
21
330.0000
18
340.0001
57
350.0002
86
360

10.96730
0
8.101156
6
7.144013
2
6.956139
9
7.243275
2
8.280515
4
9.805335
8
11.55338
0
14.97079
6

Diagrama Cinemtico de Velocidades

12
10
8
6
Elemento de salida (6)

4
2
0
30
0

90
150 210 270 330
60
120 180 240 300 360

Elemento de entrada (2)

Para velocidades: (2 = 0 rad/s2)

Ecuaciones a utilizar (derivada de las velocidades):
r 6 62 (ei ) + r 6 6 ( ie i )=r a a2 ( ei ) +r a a ( ie i ) +2 r a a ( ie i ) + r a e i
6

IR :r 6 62 (cos ( 6 ) ) +r 6 6 ( sin ( 6 ) ) =r a a2 (cos ( a ) ) +r a a ( sin ( a ) ) + 2 r a a ( sin ( a ) ) + r a cos ( a )

II :r 6 62 ( sin ( 6 ) ) +r 6 6 ( cos ( 6 ) )=r a a2 (sin ( a ) ) + r a a ( cos ( a ) ) + 2 r a a ( cos ( a ) ) + r a sin ( a )
r 5 52 (ei ) +r 5 5 ( i ei ) +
5

r4 2
r
4 (e i ) + 6 4 4 ( i ei ) =r a a2 (e i ) +r a a ( i ei ) + 2 r a a ( i e i ) + r a ei
2
2
4

IR :r 6 5 52 (cos ( 5 ) ) +r 5 5 (sin ( 5 ) ) +
II :r 5 52 ( sin ( 5 ) ) +r 5 5 ( cos ( 5 ) ) +

r4 2
r
4 ( cos ( 4 ) ) + 4 4 ( sin ( 4 ) ) =r a a2 ( cos ( a ) ) + r a a (sin ( a ) ) +
2
2

r4 2
r
4 ( sin ( 4 ) ) + 4 4 ( cos ( 4 ) ) =r a a2 ( sin ( a ) ) +r a a ( cos ( a ) ) +2 r a a (
2
2

r 5 52 (ei ) +r 5 5 ( i ei ) =
5

r4 2
r
4 (ei ) + 6 4 4 ( i e i ) +r 7 72 (e i ) + r 7 7 ( ie i ) +2 r 7 7 ( ie i ) + r 7 ei
2
2
4

IR :r 6 5 52 (cos ( 5 ) ) +r 5 5 (sin ( 5 ) ) =r 4 42 (cos ( 4 ) ) + r 4 4 ( sin ( 4 ) ) +r 7 72 ( cos ( 7 ) ) +r 7 7 (sin ( 7 ) ) +2

II :r 5 52 ( sin ( 5 ) ) +r 5 5 ( cos ( 5 ) ) =

r4 2
r
4 (sin ( 4 ) ) + 4 4 ( cos ( 4 ) ) +r 7 72 (sin ( 7 ) ) +r 7 7 ( cos ( 7 ) ) + 2 r 7 7 (
2
2

r 1 12 ( e i ) +r 1 1 ( ie i )+ 2 r 1 1 ( i ei ) + r 1 e i =r 7 72 ( ei ) +r 7 7 ( i e i ) + 2 r 7 7 ( i ei ) + r 7 e i
1

IR :r 1 12 ( cos ( 1 ) ) + r 1 1 ( sin ( 1) ) +2 r 1 1 ( sin ( 1) ) + r 1 cos ( 1 ) =r 7 72 ( cos ( 7 ) ) +r 7 7 (sin ( 7 ) ) +2 r 7 7 (

II :r 1 12 (sin ( 1 ) ) + r 1 1 ( cos ( 1 ) ) +2 r 1 1 ( cos ( 1 ) ) + r 1 sin ( 1 ) =r 7 72 (sin ( 7 ) ) + r 7 7 ( cos ( 7 ) ) +2 r 7 7 ( cos ( 7

r 1 12 ( e i ) +r 1 1 ( ie i )+ 2 r 1 1 ( i ei ) + r 1 e i =r 2 22 (e i )+ r 2 2 ( ie i )+ r 3 32 ( e i ) +r 3 3 ( i ei )
1

IR :r 1 12 ( cos ( 1 ) ) + r 1 1 ( sin ( 1) ) +2 r 1 1 ( sin ( 1) ) + r 1 cos ( 1 ) =r 6 2 22 ( cos ( 2 ) ) +r 2 2 ( sin ( 2) ) +r ww 3 6 33

II :r 1 12 (sin ( 1 ) ) + r 1 1 ( cos ( 1 ) ) +2 r 1 1 ( cos ( 1 ) ) + r 1 sin ( 1 ) =r 2 22 ( sin ( 2 ) ) +r 2 2 ( cos ( 2 ) ) +r 3 32 (sin ( 3

INCOGNITA POSICIO
S:
N1

Aceleraci
ones

1
(rad/s2
)

3
(rad/s2)

685.241 1370.482
19
38

4
(rad/s2)
933.579
23

5
(rad/s2
)
174.528

6
(rad/s2
)
1894.20
7

7
(rad/s2)
554.0539
0

a
(rad/s2
)

r1
r7
(cm/s2) (cm/s2)
- 29409.0 35033.22
554.053
5
42

ra
(cm/s2)
14596.84
7

COMPROBANDO CON LAS INCOGNITAS DE LA POSICION 2:

Aceleraci
ones

1
(rad/s2)
43.12290
7

3
4
5
6
7
(rad/s2) (rad/s2) (rad/s2) (rad/s2) (rad/s2)
86.24581 12.91262 9.588205 25.89838 11.2504
5
2
6
6
14

a
(rad/s2
)
11.2504
1

r1
(cm/s2)
2018.408
141

Comparando con el mtodo grfico se encuentra un error del 5.43%

6
6
6
(rad/s2)
2
(rad/s2)
2
(rad/s2)
7.0154E- 344.3564 129.9996 38.20274 260.0000 1370.164
05
0
31
8
44
0
2

r7
(cm/s2)
96.42460
8

ra
(cm/s2
)
485.44
8

9.999806 10803.68
76
9
19.99998 169.3649
77
5
30.00001 109.1664
38
8
40.00092 90.41989
78
3
50.00000 106.0358
12
9
60.00007 192.1426
16
0
69.99905 583.4854
15
7
79.99985 4090.677
62
7
89.99999 1451134
62
3.
99.99999 4385.806
95
58
110.0002 299.6523
99
65
119.9991 12.64643
05
79

139.9999 59.98300
86
1
149.9996 94.95349
07
2
159.9999 222.8243
72
7
169.9999 118.1454
96
7
179.9996 589.2357
76
49
190.0000 152.3099
17
42
199.9995 51.63622
52
59
209.9999 6.496549
22
3
25.89838
220
6
229.9999 61.31469
59
6
239.9995 119.6058
52
2
249.9996 279.9477
23
8

270.0000 1856.042
19
34
279.9999 282.8832
96
46
289.9995 89.97846
67
48
299.9999 28.18090
99
42
310.0000 4.229182
01
2
319.9995 27.97152
21
8
330.0000 45.91165
18
8
340.0001 65.90173
57
0
350.0002 116.5979
86
9
344.3348
360
5

Diagrama Cinemtico de Aceleraciones

12
10
8
6
Elemento de salida (6)

4
2
0
30
0

60

90 150 210 270 330

120 180 240 300 360

Elemento de entrada (2)