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%BIELA MANIVELA
clc,clear
clear
AM=[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0];
chi=0;
format short
a=0.03; % manivela
d=0.05;
c=0;%descentrado
t2=0*pi/180;
t3=320*pi/180; %arbitrario
r3=0;
r6=0;
w2=-20;%
alfa2=-100;
m2=2;%kg
m3=0.5;
m4=0.5;
Ig2=0.001;%kg-m2
Ig3=0.01;
Ig4=0.002;
for i=1:73 %si desea conocer, por ejemplo, los resultados solo para
t2=60°
punto
f1=a*cos(t2)+b*cos(t3)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-d*sin(t1)+c;
B=-[f1;f2];
X=A\B;
vt3=X(1);
vtd=X(2);
e=0.000001;
d=d+vtd;
t3=t3+vt3;
f1=a*cos(t2)+b*cos(t3)-d*cos(t1);
f2=a*sin(t2)+b*sin(t3)-d*sin(t1)+c;
B=-[f1;f2];
X=A\B;
vt3=X(1);
vtd=X(2);
end
fi=2*pi-t3;
B=[a*w2*sin(t2);-a*w2*cos(t2)];
X=Jv\B;
w3=X(1);
vr=X(2);
acel=[a*alfa2*sin(t2)+a*w2*w2*cos(t2)+b*w3*w3*cos(t3);
-a*alfa2*cos(t2)+a*w2*w2*sin(t2)+b*w3*w3*sin(t3)];
Y=Ja\acel;
alfa3=Y(1);
rcx=a*cos(t2)+r5*cos(t3)+r6*cos(t3+pi/2);
rcy=a*sin(t2)+r5*sin(t3)+r6*sin(t3+pi/2);
RCC=sqrt(rcx^2+rcy^2);
vcx=-a*w2*sin(t2)-r5*w3*sin(t3)-r6*w3*cos(t3);
vcy=a*w2*cos(t2)+r5*w3*cos(t3)-r6*w3*sin(t3);
VCC=sqrt(vcx^2+vcy^2);
Ag2x=-(r2*alfa2-r3*w2*w2)*sin(t2)-(r3*alfa2+r2*w2*w2)*cos(t2);
Ag2y=(r2*alfa2-r3*w2*w2)*cos(t2)-(r3*alfa2+r2*w2*w2)*sin(t2);
Ag2=(sqrt(Ag2x^2+Ag2y^2));%total
%Ag2x=-r2*alfa2*sin(t2)-r2*w2^2*cos(t2)
%Ag2y=r2*alfa2*cos(t2)-r2*w2^2*sin(t2)
%Ag2=sqrt(Ag2x^2+Ag2y^2)
%aceleración de A
Aa2x=-a*alfa2*sin(t2)-a*w2^2*cos(t2);
Aa2y=a*alfa2*cos(t2)-a*w2^2*sin(t2);
Ag3x=-a*alfa2*sin(t2)-a*w2*w2*cos(t2)-(r5*alfa3-r6*w3*w3)*sin(t3)-
(r6*alfa3+r5*w3*w3)*cos(t3);
Ag3y=a*alfa2*cos(t2)-a*w2*w2*sin(t2)+(r5*alfa3-r6*w3*w3)*cos(t3)-
(r6*alfa3+r5*w3*w3)*sin(t3);
Ag3x=Aa2x+(-r5*alfa3*sin(t3)-r5*w3^2*cos(t3));
Ag3y=Aa2y+(r5*alfa3*cos(t3)-r5*w3^2*sin(t3));
Ag3=sqrt(Ag3x^2+Ag3y^2);
ACC3=sqrt(Ag3x^2+Ag3y^2);%total
m2ag2x=m2*Ag2x;
m2ag2y=m2*Ag2y;
m3ag3x=m3*Ag3x;
m3ag3y=m3*Ag3y;
Fpx=-10*9.81; %N
Fpy=0;
q2x=r2*cos(t2+pi);
q2y=r2*sin(t2+pi);
p2x=(a-r2)*cos(t2);
p2y=(a-r2)*sin(t2);
q3x=r5*cos(t3-pi);
q3y=r5*sin(t3-pi);
p3x=(b-r5)*cos(t3);
p3y=(b-r5)*sin(t3);
MM=[-1 0 1 0 0 0 0 0;
0 -1 0 1 0 0 0 0;
0 0 -1 0 1 0 0 0;
0 0 0 -1 0 1 0 0;
0 0 0 0 -1 0 0 0;
0 0 0 0 0 -1 1 0];
NN=[m2ag2x;m2ag2y;Ig2*alfa2;m3ag3x;m3ag3y;Ig3*alfa3;(m4*ar-Fpx);-Fpy];
FFF=MM\NN
F21x=FFF(1);
F21y=FFF(2);
F32x=FFF(3);
F32y=FFF(4);
F43x=FFF(5);
F43y=FFF(6);
F14y=FFF(7);
T0=FFF(8);
F21=sqrt(F21x^2+F21y^2);
F32=sqrt(F32x^2+F32y^2);
F43=sqrt(F43x^2+F43y^2);
M1=[t2*180/pi,F21x,F21y,F21,F32x,F32y,F32,F43x,F43y,F43,F14y,T0];
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
t2=t2+5*pi/180;
end
disp (AM);
T2=AM(:,1);
F21x=AM(:,2);
F21y=AM(:,3);
F21=AM(:,4);
F32x=AM(:,5);
F32y=AM(:,6);
F32=AM(:,7);
F43x=AM(:,8);
F43y=AM(:,9);
F43=AM(:,10);
F14y=AM(:,11);
T0=AM(:,12);
figure (1)
plot (T2,F21x,'r')
grid
title('F21x')
figure (2)
plot(T2,F21y,'r')
grid
title('F21y')
figure (3)
plot(T2,F21,'r' )
grid
title('REACCION EN O2 (F21)')
figure (4)
plot (T2,F32x,'r')
grid
title('F32x')
figure (5)
plot(T2,F32y,'r')
grid
title('F32y')
figure (6)
plot(T2,F32,'r')
grid
figure (7)
plot(T2,F43x,'r' )
grid
title('F43x')
figure (8)
plot(T2,F43y,'r' )
grid
title('F43y')
figure (9)
plot(T2,F43,'r' )
grid
figure(10)
plot(T2,F14y,'r')
grid
title('F14y')
figure (11)
plot(T2,T0)
grid
figure (12)
plot(T2,F21,T2,F32,T2,F43,'b')
title('reacciones en O2 A y B')
legend('F21','F32','F43')