CALCULO PE POSICION DE THEO JANSEN

𝑎=2 𝑏 = 13
𝑐=8 𝑑=9
𝑝=8
𝜃2 = 135 𝜃1 = 180°

𝜃3 =?°

𝜃4 =?°
̅̅̅̅
𝑷𝑩 =?
̅̅̅̅
𝑷𝑷 =?
∅ = 90°

̅̅̅
𝑃𝐴 + ̅̅̅̅̅
𝑃𝐵𝐴 − ̅̅̅̅̅̅
𝑃𝐵𝑂4 − ̅̅̅̅̅̅
𝑃𝑂4 = 0

𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 = 0

𝐷𝑒𝑟𝑖𝑣𝑎𝑛𝑑𝑜
𝑑𝜃2 𝑑𝜃3 𝑑𝜃4 𝑑𝜃1
𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 =0
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑎𝑒 𝑗𝜃2 𝑤2 + 𝑏𝑒 𝑗𝜃3 𝑤3 − 𝑐𝑒 𝑗𝜃4 𝑤4 − 𝑑𝑒 𝑗𝜃1 𝑤1 = 0

2𝑗90(cos135 + 𝑗𝑠𝑒𝑛135) + 13𝑗𝑤3 (𝑐𝑜𝑠154.16 + 𝑗𝑠𝑒𝑛154.16) − 8𝑗𝑤4 (𝑐𝑜𝑠121.89 + 𝑗𝑠𝑒𝑛121.89) = 0

−90√2𝑗 − 90√2 − 11.7𝑗𝑤3 − 5.67𝑤3 − 4.23𝑗𝑤4 − 6.79𝑤4 + 9 = 0

𝑹𝑬𝑨𝑳𝑬𝑺 𝑰𝑴𝑨𝑮𝑰𝑵𝑨𝑹𝑰𝑶𝑺
𝑎𝑤2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 𝑠𝑒𝑛𝜃3 + 𝑐𝑤4 𝑠𝑒𝑛𝜃4 = 0 𝑎𝑗𝑤2 𝑐𝑜𝑠𝜃2 + 𝑏𝑗𝑤3 𝑐𝑜𝑠𝜃3 − 𝑐𝑗𝑤4 𝑐𝑜𝑠𝜃4 = 0

𝑺𝒆 𝒆𝒍𝒆𝒗𝒆 𝒂𝒍 𝒄𝒖𝒂𝒅𝒓𝒂𝒅𝒐. 𝑺𝒆 𝒅𝒊𝒗𝒊𝒅𝒆 𝒆𝒏𝒕𝒓𝒆 𝒋

𝑎𝑤2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3 𝑎𝑤2 𝑐𝑜𝑠𝜃2 + 𝑏𝑤3 𝑐𝑜𝑠𝜃3
𝑤4 = …………𝐼 𝑤4 = … … … … 𝐼𝐼
𝑐𝑠𝑒𝑛𝜃4 𝑐𝑐𝑜𝑠𝜃4

𝒊𝒈𝒖𝒂𝒍𝒎𝒐𝒔 𝒍𝒂𝒔 𝒆𝒄𝒖𝒂𝒄𝒊𝒐𝒏𝒆𝒔 𝑰 𝒚 𝑰𝑰.

𝑎𝑤2 [𝑠𝑒𝑛(𝜃4 − 𝜃2 )] 2(90)[𝑠𝑒𝑛(121.84° − 135°)]
𝑤3 = =
𝑏[𝑠𝑒𝑛(𝜃3 − 𝜃4 )] 13[𝑠𝑒𝑛(154.16° − 121.89°)]
𝒘𝟑 = −𝟓. . 𝟖𝟖 𝒓𝒑𝒎
 𝑎𝑤2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3 2(90)[𝑠𝑒𝑛(135°) + 13(−5.88)𝑠𝑒𝑛(15416°)]
𝑤4 = =
𝑐𝑠𝑒𝑛𝜃4 8[𝑠𝑒𝑛(121.84°)]
𝑤4 = −𝟏𝟑. 𝟖𝟑 𝒓𝒑𝒎
̅̅̅
𝑉𝐴 = 𝑎𝑤2 (−𝑠𝑒𝑛𝜃2 + 𝑗𝑐𝑜𝑠𝜃2 ) = (2)(90)(−𝑠𝑒𝑛135° + 𝑗𝑐𝑜𝑠135°)
̅̅̅
𝑉𝐴 = −𝟗𝟎√𝟐 − 𝟗𝟎√𝟐𝒋

̅̅̅̅̅
𝑉 𝐵𝐴 = 𝑏𝑤3 (−𝑠𝑒𝑛𝜃3 + 𝑗𝑐𝑜𝑠𝜃3 ) = (13)(−5.88)(−𝑠𝑒𝑛(154.16) + 𝑗𝑐𝑜𝑠(154.16))

̅̅̅̅̅
𝑽𝑩𝑨 = 𝟑𝟑. 𝟑𝟐 + 𝟔𝟖. 𝟖𝟎𝒋
̅̅̅̅
𝑽𝑩 = −𝟗𝟑. 𝟗𝟔 − 𝟓𝟖. 𝟒𝟖𝒋
̅̅̅̅̅̅
𝑉𝐵𝑜4 = 𝑐𝑗𝑤3 (𝑐𝑜𝑠𝜃4 + 𝑗𝑠𝑒𝑛𝜃4 ) = (8)(13.83)(−𝑠𝑒𝑛(121.89°) + 𝑗𝑐𝑜𝑠(121.89°))
̅̅̅̅̅̅
𝑽𝑩𝒐𝟒 = (−𝟗𝟑. 𝟗𝟒 − 𝟓𝟖. 𝟒𝟓𝒋)
 ̅̅̅
𝑃𝐴 + ̅̅̅̅̅
𝑃𝐵𝐴 − ̅̅̅̅̅̅
𝑃𝐵𝑂4 − ̅̅̅̅̅̅
𝑃𝑂4 = 0

𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 = 0

𝐷𝑒𝑟𝑖𝑣𝑎𝑛𝑑𝑜
𝑑𝜃2 𝑑𝜃3 𝑑𝜃4 𝑑𝜃1
𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 =0
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑎𝑒 𝑗𝜃2 𝑤2 + 𝑏𝑒 𝑗𝜃3 𝑤3 − 𝑐𝑒 𝑗𝜃4 𝑤4 − 𝑑𝑒 𝑗𝜃1 𝑤1 = 0

𝑎𝑗𝑤2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 ) + 𝑏𝑗𝑤3 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑒𝑛𝜃3 ) − 𝑐𝑗𝑤4 (𝑐𝑜𝑠𝜃4 + 𝑗𝑠𝑒𝑛𝜃4 )

𝑎𝑗𝑤2 𝑐𝑜𝑠𝜃2 − 𝑎𝑗𝑤2 𝑗𝑠𝑒𝑛𝜃2 + 𝑏𝑗𝑤3 𝑐𝑜𝑠𝜃3 − 𝑏𝑗𝑤3 𝑗𝑠𝑒𝑛𝜃3 − 𝑐𝑗𝑤4 𝑐𝑜𝑠𝜃4 + 𝑐𝑗𝑤4 𝑗𝑠𝑒𝑛𝜃4

𝑹𝑬𝑨𝑳𝑬𝑺 𝑰𝑴𝑨𝑮𝑰𝑵𝑨𝑹𝑰𝑶𝑺
−𝑎𝑤2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 𝑠𝑒𝑛𝜃3 + 𝑐𝑤4 𝑠𝑒𝑛𝜃4 = 0 𝑎𝑗𝑤2 𝑐𝑜𝑠𝜃2 + 𝑏𝑗𝑤3 𝑐𝑜𝑠𝜃3 − 𝑐𝑗𝑤4 𝑐𝑜𝑠𝜃4 = 0

𝑺𝒆 𝒆𝒍𝒆𝒗𝒆 𝒂𝒍 𝒄𝒖𝒂𝒅𝒓𝒂𝒅𝒐. 𝑺𝒆 𝒅𝒊𝒗𝒊𝒅𝒆 𝒆𝒏𝒕𝒓𝒆 𝒋

𝑎𝑤2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3 𝑎𝑤2 𝑐𝑜𝑠𝜃2 + 𝑏𝑤3 𝑐𝑜𝑠𝜃3
𝑤4 = …………𝐼 𝑤4 = … … … … 𝐼𝐼
𝑐𝑠𝑒𝑛𝜃4 𝑐𝑐𝑜𝑠𝜃4

𝒊𝒈𝒖𝒂𝒍𝒎𝒐𝒔 𝒍𝒂𝒔 𝒆𝒄𝒖𝒂𝒄𝒊𝒐𝒏𝒆𝒔 𝑰 𝒚 𝑰𝑰.

𝑐𝑜𝑠 𝜃4 [𝑎𝑤2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3] = [𝑎𝑤2 𝑐𝑜𝑠𝜃2 + 𝑏𝑤3 𝑐𝑜𝑠𝜃3 ]𝑠𝑒𝑛𝜃4

𝑎𝑤2 𝑠𝑒𝑛𝜃2 𝑐𝑜𝑠𝜃4 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3 𝑐𝑜𝑠𝜃4 = 𝑎𝑤2 𝑐𝑜𝑠𝜃2 𝑠𝑒𝑛𝜃4 + 𝑏𝑤3 𝑐𝑜𝑠𝜃3 𝑠𝑒𝑛𝜃4
𝑎𝑤2 [𝑠𝑒𝑛(𝜃4 − 𝜃2 )] = 𝑎𝑤3 [𝑠𝑒𝑛(𝜃3 − 𝜃4 )]
𝑎𝑤2 [𝑠𝑒𝑛(𝜃4 − 𝜃2 )] 2(90)[𝑠𝑒𝑛(−88.84° − 135°)]
𝑤3 = =
𝑏[𝑠𝑒𝑛(𝜃3 − 𝜃4 )] 12[𝑠𝑒𝑛(−128.32° + 88.84°)]
𝒘𝟑 = −𝟏𝟔. 𝟑𝟒 𝒓𝒆𝒗⁄𝒎𝒊𝒏

𝑎𝑤2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 𝑠𝑒𝑛𝜃3 (180)[𝑠𝑒𝑛(135°) + 12(−16.34)𝑠𝑒𝑛(128°)]

𝑤4 = =
𝑐𝑠𝑒𝑛𝜃4 8[𝑠𝑒𝑛(−88.84°)]
𝒘𝟒 = −𝟑𝟓. 𝟏𝟓 𝒓𝒆𝒗⁄𝒎𝒊𝒏

̅̅̅
𝑉𝐴 = 𝑎𝑤2 (−𝑠𝑒𝑛𝜃2 + 𝑗𝑐𝑜𝑠𝜃2 ) = (2)(90)(−𝑠𝑒𝑛135° + 𝑗𝑐𝑜𝑠135°)
̅̅̅
𝑉𝐴 = −𝟗𝟎√𝟐 − 𝟗𝟎√𝟐𝒋

̅̅̅̅̅
𝑉 𝐵𝐴 = 𝑏𝑤3 (−𝑠𝑒𝑛𝜃3 + 𝑗𝑐𝑜𝑠𝜃3 ) = (12)(−16.34)(−𝑠𝑒𝑛(−128.32) + 𝑗𝑐𝑜𝑠(−128.32))
 ̅̅̅̅̅
𝑽𝑩𝑨 = 𝟏𝟓𝟑. 𝟖 − 𝟏𝟐𝟖. 𝟔𝒋
̅̅̅̅
𝑽𝑩 = (−𝟗𝟎√𝟐 − 𝟗𝟎√𝟐𝒋) + (−𝟏𝟓𝟑. 𝟖 − 𝟏𝟐𝟖. 𝟔𝒋)
̅̅̅̅
𝑽𝑩 = (−𝟐𝟖𝟏. 𝟏 − 𝟐𝟓𝟓. 𝟖𝟕𝒋)
 ̅̅̅
𝑃𝐴 + ̅̅̅̅̅
𝑃𝐵𝐴 − ̅̅̅̅̅̅
𝑃𝐵𝑂4 − ̅̅̅̅̅̅
𝑃𝑂4 = 0

𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 = 0

𝐷𝑒𝑟𝑖𝑣𝑎𝑛𝑑𝑜
𝑑𝜃2 𝑑𝜃3 𝑑𝜃4 𝑑𝜃1
𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 =0
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑎𝑒 𝑗𝜃2 𝑤2 + 𝑏𝑒 𝑗𝜃3 𝑤3 − 𝑐𝑒 𝑗𝜃4 𝑤4 − 𝑑𝑒 𝑗𝜃1 𝑤1 = 0

𝐷𝑒𝑟𝑖𝑣𝑎𝑛𝑑𝑜

(𝑎𝑒 𝑗𝜃2 𝑗𝑤2 𝑗𝑤2 + 𝑎𝑒 𝑗𝜃2 𝑗𝛼2 ) + (𝑏𝑒 𝑗𝜃3 𝑗𝑤3 𝑗𝑤3 + 𝑏𝑒 𝑗𝜃3 𝑗𝛼3 ) − (𝑐𝑒 𝑗𝜃4 𝑗𝑤4 𝑗𝑤4 + 𝑐𝑒 𝑗𝜃4 𝑗𝛼4 ) = 0

−𝑎𝑤2 2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 ) + 𝑎𝑗𝛼2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 ) − 𝑏𝑤3 2 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑒𝑛𝜃3) + 𝑏𝑗𝛼3 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑒𝑛𝜃3 )
+ 𝑐𝑤4 2 (𝑐𝑜𝑠𝜃4 + 𝑗𝑠𝑒𝑛𝜃4 ) − 𝑐𝑗𝛼4 (𝑐𝑜𝑠𝜃4 + 𝑗𝑠𝑒𝑛𝜃4 ) = 0
−𝑎𝑤2 2 𝑐𝑜𝑠𝜃2 − 𝑎𝑤2 2 𝑗𝑠𝑒𝑛𝜃2 + 𝑎𝑗𝛼2 𝑐𝑜𝑠𝜃2 − 𝑎𝛼2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 − 𝑏𝑤3 2 𝑗𝑠𝑒𝑛𝜃3 + 𝑏𝑗𝛼3 𝑐𝑜𝑠𝜃3
− 𝑏𝛼3 𝑠𝑒𝑛𝜃3 + 𝑐 𝑤4 2 𝑐𝑜𝑠𝜃4 + 𝑐 𝑤4 2 𝑗𝑠𝑒𝑛𝜃4 − 𝑐𝑗𝛼4 𝑐𝑜𝑠𝜃4 + 𝑐𝛼4 𝑠𝑒𝑛𝜃4 = 0

𝑹𝑬𝑨𝑳𝑬𝑺 𝑰𝑴𝑨𝑮𝑰𝑵𝑨𝑹𝑰𝑶𝑺
−𝑎 𝑤2 2 𝑐𝑜𝑠𝜃2 − 𝑎𝛼2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 −𝑎𝑤2 2 𝑗𝑠𝑒𝑛𝜃2 + 𝑎𝑗𝛼2 𝑐𝑜𝑠𝜃2 − 𝑏𝑤3 2 𝑗𝑠𝑒𝑛𝜃3
− 𝑏𝛼3 𝑠𝑒𝑛𝜃3 + 𝑐 𝑤4 2 𝑐𝑜𝑠𝜃4 + 𝑏𝑗𝛼3 𝑐𝑜𝑠𝜃3 + 𝑐𝑤4 2 𝑗𝑠𝑒𝑛𝜃4
+ 𝑐𝛼4 𝑠𝑒𝑛𝜃4 = 0 − 𝑐𝑗𝛼4 𝑐𝑜𝑠𝜃4 = 0
𝑺𝒆 𝒆𝒍𝒆𝒗𝒆 𝒂𝒍 𝒄𝒖𝒂𝒅𝒓𝒂𝒅𝒐. 𝑺𝒆 𝒅𝒊𝒗𝒊𝒅𝒆 𝒆𝒏𝒕𝒓𝒆 𝒋
−𝑎𝑤2 2 𝑐𝑜𝑠𝜃2 − 𝑎𝛼2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 𝑎𝛼2 𝑐𝑜𝑠𝜃2 − 𝑎𝑤2 2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑠𝑒𝑛𝜃3
− 𝑐𝑤4 2 𝑐𝑜𝑠𝜃4 = 0 … … . . 𝐶 + 𝑐𝑤4 2 𝑠𝑒𝑛𝜃4 = 0 … … … 𝐹
−𝛼3 𝑏𝑠𝑒𝑛𝜃3 … … . . 𝐵 𝛼3 𝑏𝑐𝑜𝑠𝜃3 … … . . 𝐸
𝛼4 𝑐𝑠𝑒𝑛𝜃4 … … … 𝐴 −𝛼4 𝑐𝑐𝑜𝑠𝜃4 … … … 𝐷
−𝑐 − 𝛼3 𝐵 + 𝛼4 𝐴 = 0 𝐹 + 𝐸𝛼3 + 𝐷𝛼4 = 0
𝐶 + 𝛼3 𝐵 𝐹 + 𝐸𝛼3
𝛼4 = ………𝐼 𝛼4 = … … … 𝐼𝐼
𝐴 𝐷

𝒊𝒈𝒖𝒂𝒍𝒎𝒐𝒔 𝒍𝒂𝒔 𝒆𝒄𝒖𝒂𝒄𝒊𝒐𝒏𝒆𝒔 𝑰 𝒚 𝑰𝑰.

𝐶 + 𝛼3 𝐵 𝐹 + 𝐸𝛼3
=
𝐴 𝐷
𝐷𝐶 + 𝛼3 𝐵𝐷 = 𝐴𝐹 + 𝐴𝐸𝛼3
𝐷𝐶 − 𝐴𝐹 = (𝐴𝐸 − 𝐷𝐵) 𝛼3
𝐷𝐶 − 𝐴𝐸
𝛼3 =
𝐴𝐸 − 𝐷𝐸

−𝐶 − 𝛼3 𝐵 + 𝛼4 𝐴 = 0
−𝐶 + 𝛼4 𝐴
𝛼3 =
𝐵
 𝐹 + 𝛼3 𝐸 − 𝛼4 𝐷 = 0
𝛼4 𝐷 − 𝐹
𝛼3 =
𝐸
−𝐶 + 𝛼4 𝐴 𝛼4 𝐷 − 𝐹
=
𝐵 𝐸
−𝐶𝐸 + 𝛼4 𝐴𝐸 = 𝛼4 𝐷𝐵 − 𝐹𝐵
𝐷𝐶 − 𝐴𝐹 𝐶𝐸 − 𝐵𝐹
𝛼4 = 𝛼4 =
𝐴𝐸 − 𝐵𝐷 𝐴𝐸 − 𝐵𝐷
𝛼3 = [𝑐𝑐𝑜𝑠𝜃4 ][𝑎𝑤2 2 𝑐𝑜𝑠𝜃2 + 𝑎𝛼2 𝑠𝑒𝑛𝜃2 + 𝑏𝑤3 2 𝑐𝑜𝑠𝜃3 − 𝑐𝑤4 2 𝑐𝑜𝑠𝜃4 ]
− [𝑐𝑠𝑒𝑛𝜃4 ][𝑎𝛼2 𝑐𝑜𝑠𝜃2 − 𝑎𝑤2 2 𝑠𝑒𝑛𝜃2 − 𝑏𝑤3 2 𝑠𝑒𝑛𝜃3 + 𝑎𝑤4 2 𝑠𝑒𝑛𝜃2 ][𝑐𝑠𝑒𝑛𝜃4 ][𝑏𝑐𝑜𝑠𝜃3 ]
− [𝑏𝑠𝑒𝑛𝜃3 ][𝑐𝑐𝑜𝑠𝜃4 ]

𝛼3 =
 𝒄𝒂𝒍𝒄𝒖𝒍𝒂𝒏𝒅𝒐 𝒍𝒂 𝒂𝒄𝒆𝒍𝒆𝒓𝒂𝒄𝒊𝒐𝒏 𝒅𝒆 𝒄𝒂𝒅𝒂 𝒆𝒔𝒍𝒂𝒃𝒐𝒏

𝐴𝐴 = 𝑎𝛼2 (−𝑠𝑒𝑛𝜃2 + 𝑗𝑐𝑜𝑠𝜃2 ) − 𝑎𝑤2 2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑒𝑛𝜃2 )

𝐴𝐴𝐵 = 𝑏𝛼3 (−𝑠𝑒𝑛𝜃3 + 𝑗𝑐𝑜𝑠𝜃3 ) − 𝑏𝑤3 2 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑒𝑛𝜃3 )

𝐴𝐵 = 𝑐𝛼4 (−𝑠𝑒𝑛𝜃4 + 𝑗𝑐𝑜𝑠𝜃4 ) − 𝑐𝑤4 2 (𝑐𝑜𝑠𝜃4 + 𝑗𝑠𝑒𝑛𝜃4 )

𝐴𝐵04 = 𝐴𝐵

𝑝𝑒 𝑗𝑏 = 𝑝𝑒 𝑗𝑏 𝑗𝑤𝐵 = 𝑝𝑒 𝑗𝑏 𝑗𝑤4 = 𝑝𝑒 𝑗𝑏 𝑗𝑤4 𝑗𝑤4 + 𝑝𝑒 𝑗𝑏 𝑗𝛼4

𝐴𝐴 = 𝑝𝑒 𝑗𝑏 𝑤4 2 + 𝑝𝑒 𝑗𝑏 𝑗𝛼4
𝑝𝛼4