DEPARTAMENTO DE CIENCIAS DE LA ENERGÍA Y MECÁNICA

CARRERA DE
X INGENIERÍA MECÁNICA
INGENIERÍA MECATRÓNICA

ASIGNATURA MECANISMOS Y VIBRACIONES

NRC 4722 - 5089

INFORME DE LABORATORIO No.

TRABAJO DE INVESTIGACIÓN No.
DEBER No. 1
PROYECTO No.

TEMA(S) PROYECTO DE ANÁLISIS CINEMÁTICO Y CINETOSTÁTICO DE

MECANISMOS PLANOS

DOCENTE ING. JAIME F. ECHEVERRÍA Y.

AYUDANTE ING. SAMUEL MOSQUERA A.

INTEGRANTES
ACURIO ALVAREZ JOHNNY ROLANDO
AVILA NAVARRETE JOSE EDUARDO
BALSECA TORRES MARTIN ALEJANDRO
CHERRES ARAUZ JONATHAN DANIEL
FREIRE SINCHIGUANO ERIK ISMAEL

FECHA 24/07/2021
INDICE GENERAL
...........................................................................................................................................................1
........................................................................................................6
....................................................................7
....................................................................................................................8
................................................................................................................8
..............................................................................................................8
..........................................................................................................9
................................................................10
............................................................................................................10
..................................................................................................................10
..............................................................................................................10
............................................................................................................11
........................................................................................................11
......................................................12
..............................................................................................................13
..............................................................................................................13
.........................................................................................................13
........................................................................................................14
..............................................................................................................15
..............................................................................................................15
............................................................................................................16
........................................................................................................17
...........................................................................................................18
..............................................................................................................18
............................................................................................................19
........................................................................................................19
................................................................................................20
.................................................................................................................20
..............................................................................................................................21
....................................................................................................................................22
...............................................................................................................................23
....................................................................................................................................24
 ............................................................24
...............................................25
𝑙𝐺2 .....................................................................................................26
𝑙𝐺3 ....................................................................................................26
𝑙𝐺5 ....................................................................................................26
....................................................................................27
..............................................................................................27
...............................................................................................28
...................................................................................................31
.......................................................................................................32
..........................................................................................................................32
...........................................................................................................................33
...........................................................................................................................................................1
........................................................................................................8
....................................................................9
..................................................................................................................10
..............................................................................................................10
............................................................................................................10
........................................................................................................11
................................................................12
............................................................................................................12
..................................................................................................................12
..............................................................................................................12
............................................................................................................13
........................................................................................................13
......................................................14
..............................................................................................................15
..............................................................................................................15
.........................................................................................................15
........................................................................................................16
..............................................................................................................17
..............................................................................................................17
............................................................................................................18
 ........................................................................................................19
...........................................................................................................20
..............................................................................................................20
............................................................................................................21
........................................................................................................21
................................................................................................22
.................................................................................................................22
..............................................................................................................................23
....................................................................................................................................24
...............................................................................................................................25
....................................................................................................................................26
............................................................26
...............................................27
𝑙𝐺2 .....................................................................................................28
𝑙𝐺3 ....................................................................................................28
𝑙𝐺5 ....................................................................................................28
....................................................................................29
..............................................................................................29

...............................................................................................32

...................................................................................................33
.......................................................................................................34
..........................................................................................................................34

Gomparacion de Graficas................................................................................36

......................... .................................................................................. ....46.

...............................47
.................................................................
............................................................................ 48.
Ilustración 1. Mecanismo fr Análisis.
Figura 21 Diagrama cinemático del mecanismo

𝑚 = 3(6 − 1) − 7(2) = 1

𝑁 = 𝑗−𝑐 = 7−5= 2

R3BC

R2

R1

Figura 3 Lazo vectorial OBCD del mecanismo

 R3AB

R2 R5

R6
R1_

Figura 4 Lazo vectorial OBAEP del mecanismo

𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡𝑒𝑠

𝐷𝑎𝑡𝑜𝑠 𝑔𝑒𝑜𝑚𝑒𝑡𝑟𝑖𝑐𝑜𝑠 𝑑𝑒𝑙 𝑙𝑎𝑧𝑜 1 𝑟1 = 0.07 [𝑚] 𝑟2 = 0.03 [𝑚] 𝜃1 = 0°

𝑉𝑎𝑟𝑖𝑎𝑏𝑙𝑒𝑠 𝑐𝑜𝑛𝑜𝑐𝑖𝑑𝑎𝑠 Variables desconocidas

Posición 80° ≤ 𝜃2 < 440° 𝑟3𝐵𝐶 , 𝜃3𝐵𝐶

Variables
cinemáticas Velocidad 𝜔2 = 500 [𝑟𝑝𝑚] 𝑣3𝐵𝐶 , 𝜔3𝐵𝐶

Aceleración 𝛼2 = 0 𝑎3𝐵𝐶 , 𝛼3𝐵𝐶

Tabla 1 Constantes, variables conocidas e incógnitas para el lazo OBCD
 ⃗⃗⃗⃗1 + 𝑅
𝑅 ⃗⃗⃗⃗2 − 𝑅
⃗⃗⃗⃗⃗⃗⃗⃗⃗
3𝐵𝐶 = 0

𝑟1 ∗ cos(𝜃1 ) + 𝑟1 ∗ sin(𝜃1 ) + 𝑟2 ∗ cos(𝜃2 ) + 𝑟2 ∗ sin(𝜃2 ) − 𝑟3𝐵𝐶 ∗ cos(𝜃3𝐵𝐶 ) − 𝑟3𝐵𝐶 ∗ sin(𝜃3𝐵𝐶 ) = 0

𝑟1 ∗ cos(𝜃1 ) + 𝑟2 ∗ cos(𝜃2 ) − 𝑟3𝐵𝐶 ∗ cos(𝜃3𝐵𝐶 ) = 0

𝑟1 ∗ sin(𝜃1 ) + 𝑟2 ∗ sin(𝜃2 ) − 𝑟3𝐵𝐶 ∗ sin(𝜃3𝐵𝐶 ) = 0

𝑟3𝐵𝐶 ∗ cos(𝜃3𝐵𝐶 ) = 𝑟1 + 𝑟2 ∗ cos(𝜃2 )

𝑟3𝐵𝐶 ∗ sin(𝜃3𝐵𝐶 ) = 𝑟2 ∗ sin(𝜃2)

𝑟2 ∗ sin(𝜃2 )
𝜃3𝐵𝐶 = tan−1 ( )
𝑟1 + 𝑟2 ∗ cos(𝜃2 )

𝑟2 ∗ sin(𝜃2 )
𝑟3𝐵𝐶 =
sin(𝜃3𝐵𝐶 )

−𝑟2 ∗ 𝜔2 ∗ sin(𝜃2 ) + 𝑟3𝐵𝐶 ∗ 𝜔3𝐵𝐶 ∗ sin(𝜃3𝐵𝐶 ) − 𝑣3𝐵𝐶 ∗ cos(𝜃3𝐵𝐶 ) = 0

𝑟2 ∗ 𝜔2 ∗ cos(𝜃2 ) − 𝑟3𝐵𝐶 ∗ 𝜔3𝐵𝐶 ∗ cos(𝜃3𝐵𝐶 ) − 𝑣3𝐵𝐶 ∗ sin(𝜃3𝐵𝐶 ) = 0

𝑟2 ∗ 𝜔2 ∗ cos(𝜃2 − 𝜃3𝐵𝐶 )
𝜔3𝐵𝐶 =
𝑟3𝐵𝐶

𝑣3𝐵𝐶 = −𝑟2 ∗ 𝜔2 ∗ sin(𝜃2 − 𝜃3𝐵𝐶 )

−𝑟2 ∗ 𝜔2 2 ∗ cos(𝜃2 ) − 𝑟2 ∗ 𝛼2 ∗ sin(𝜃2 ) + 2 ∗ 𝑣3𝐵𝐶 ∗ 𝜔3𝐵𝐶 ∗ sin(𝜃3𝐵𝐶 ) − 𝑎3𝐵𝐶 ∗ cos(𝜃3𝐵𝐶 )

+ 𝑟3𝐵𝐶 ∗ 𝛼3𝐵𝐶 ∗ sin(𝜃3𝐵𝐶 ) + 𝑟3𝐵𝐶 ∗ 𝜔3𝐵𝐶 2 ∗ sin(𝜃2 ) = 0

−𝑟2 ∗ 𝜔2 2 ∗ sin(𝜃2 ) + 𝑟2 ∗ 𝛼2 ∗ cos(𝜃2 ) − 2 ∗ 𝑣3𝐵𝐶 ∗ 𝜔3𝐵𝐶 ∗ cos(𝜃3𝐵𝐶 ) − 𝑎3𝐵𝐶 ∗ sin(𝜃3𝐵𝐶 )

− 𝑟3𝐵𝐶 ∗ 𝛼3𝐵𝐶 ∗ cos(𝜃3𝐵𝐶 ) + 𝑟3𝐵𝐶 ∗ 𝜔3𝐵𝐶 2 ∗ sin(𝜃2 ) = 0

𝑟2 ∗ 𝜔2 2 ∗ sin(𝜃2 − 𝜃3𝐵𝐶 ) + 2 ∗ 𝑣3𝐵𝐶 ∗ 𝜔3𝐵𝐶 − 𝑟2 ∗ 𝛼2 ∗ cos(𝜃2 − 𝜃3𝐵𝐶 )

𝛼3𝐵𝐶 = −
𝑟3𝐵𝐶

𝑎3𝐵𝐶 = 𝑟3𝐵𝐶 ∗ 𝜔3𝐵𝐶 2 − 𝑟2 ∗ 𝜔2 2 ∗ cos(𝜃2 − 𝜃3𝐵𝐶 ) − 𝑟2 ∗ 𝛼2 ∗ sin(𝜃2 − 𝜃3𝐵𝐶 )

 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡𝑒𝑠

𝑟1− = 0.05 [𝑚] 𝜃1_ = 0° 𝜃6 = 90°

𝐷𝑎𝑡𝑜𝑠 𝑔𝑒𝑜𝑚𝑒𝑡𝑟𝑖𝑐𝑜𝑠 𝑑𝑒𝑙 𝑙𝑎𝑧𝑜 2 𝑟2 = 0.03 [𝑚] 𝑟3𝐴𝐵 = 0.05 [𝑚]
𝑟5 = 0.08 [𝑚] 𝜃3𝐵𝐶 _ = 𝜃3𝐴𝐵

𝑉𝑎𝑟𝑖𝑎𝑏𝑙𝑒𝑠 𝑐𝑜𝑛𝑜𝑐𝑖𝑑𝑎𝑠 Variables desconocidas

Posición 80° ≤ 𝜃2 < 440° 𝜃5 , 𝑟6

Variables
cinemáticas Velocidad 𝜔2 = 500 [𝑟𝑝𝑚] 𝜔5 , 𝑣6

Aceleración 𝛼2 = 0 𝛼5 , 𝑎6
Tabla 2 Constantes, variables conocidas e incógnitas para el lazo OBAEP

⃗⃗⃗⃗6 + 𝑅
𝑅 ⃗⃗⃗⃗2 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑅3𝐴𝐵 − 𝑅 ⃗⃗⃗⃗5 − ⃗⃗⃗⃗⃗⃗
𝑅1− = 0

𝑟6 ∗ cos(𝜃6 ) + 𝑟2 ∗ cos(𝜃2 ) + 𝑟3𝐴𝐵 ∗ cos(𝜃3𝐴𝐵 ) − 𝑟5 ∗ cos(𝜃5 ) − 𝑟1− ∗ cos(𝜃1− ) = 0

𝑟6 ∗ sin(𝜃6 ) + 𝑟2 ∗ sin(𝜃2 ) + 𝑟3𝐴𝐵 ∗ sin(𝜃3𝐴𝐵 ) − 𝑟5 ∗ sin(𝜃5 ) − 𝑟1− ∗ sin(𝜃1− ) = 0

𝑟2 ∗ cos(𝜃2 ) + 𝑟3𝐴𝐵 ∗ cos(𝜃3𝐴𝐵 ) − 𝑟5 ∗ cos(𝜃5 ) − 𝑟1− = 0

𝑟6 + 𝑟2 ∗ sin(𝜃2 ) + 𝑟3𝐴𝐵 ∗ sin(𝜃3𝐴𝐵 ) − 𝑟5 ∗ sin(𝜃5 ) = 0

𝑟2 ∗ cos(𝜃2 ) + 𝑟3𝐴𝐵 ∗ cos(𝜃3𝐴𝐵 ) − 𝑟1−

𝜃5 = cos −1 ( )
𝑟5

𝑟6 = 𝑟5 ∗ sin(𝜃5 ) − 𝑟2 ∗ sin(𝜃2 ) − 𝑟3𝐴𝐵 ∗ sin(𝜃3𝐴𝐵 )

 −𝑟2 ∗ 𝜔2 ∗ sin(𝜃2 ) − 𝑟3𝐴𝐵 ∗ 𝜔3𝐴𝐵 ∗ sin(𝜃3𝐴𝐵 ) + 𝑟5 ∗ 𝜔5 ∗ sin(𝜃5 ) = 0

𝑣6 + 𝑟2 ∗ 𝜔2 ∗ cos(𝜃2 ) + 𝑟3𝐴𝐵 ∗ 𝜔3𝐴𝐵 ∗ cos(𝜃3𝐴𝐵 ) − 𝑟5 ∗ 𝜔5 ∗ cos(𝜃5 ) = 0

𝑟2 ∗ 𝜔2 ∗ cos(𝜃2 − 𝜃5 ) + 𝑟3 ∗ 𝜔3 ∗ sin(𝜃3𝐴𝐵 − 𝜃5 )
𝜔5 =
sin(𝜃5 )

𝑟2 ∗ 𝜔2 ∗ sin(𝜃2 ) + 𝑟3𝐴𝐵 ∗ 𝜔3𝐴𝐵 ∗ sin(𝜃3𝐴𝐵 )

𝑣6 =
𝑟5 ∗ sin(𝜃5 )

−𝑟2 ∗ 𝜔2 2 ∗ cos(𝜃2 ) − 𝑟2 ∗ 𝛼2 ∗ sin(𝜃2 ) − 𝑟3𝐴𝐵 ∗ 𝜔3𝐴𝐵 2 ∗ cos(𝜃3𝐴𝐵 ) − 𝑟3𝐴𝐵 ∗ 𝛼3𝐴𝐵 ∗ sin(𝜃3𝐴𝐵 )

+ 𝑟5 ∗ 𝜔5 2 ∗ cos(𝜃5 ) + 𝑟5 ∗ 𝛼5 ∗ sin(𝜃5 ) = 0
 𝑎6 − 𝑟2 ∗ 𝜔2 2 ∗ sin(𝜃2 ) + 𝑟2 ∗ 𝛼2 ∗ cos(𝜃2 ) − 𝑟3𝐴𝐵 ∗ 𝜔3𝐴𝐵 2 ∗ sin(𝜃3𝐴𝐵 ) + 𝑟3𝐴𝐵 ∗ 𝛼3𝐴𝐵

∗ cos(𝜃3𝐴𝐵 ) + 𝑟5 ∗ 𝜔5 2 ∗ sin(𝜃5 ) − 𝑟5 ∗ 𝛼5 ∗ sin(𝜃5 ) = 0

𝑟2 ∗ 𝜔2 2 ∗ sin(𝜃2 − 𝜃5 ) + 𝑟3𝐴𝐵 ∗ 𝜔3𝐴𝐵 2 ∗ cos(𝜃3𝐴𝐵 − 𝜃5 ) − 𝑟5 ∗ 𝜔5 2 + 𝑟3 𝛼3 sin(𝜃3𝐴𝐵 − 𝜃5 )

𝛼5 =
sin(𝜃5 )

𝑟2 𝜔2 2 ∗ cos(𝜃2 ) + 𝑟3𝐴𝐵 ∗ 𝜔3𝐴𝐵 2 ∗ cos(𝜃3𝐴𝐵 ) − 𝑟5 ∗ 𝜔5 2 ∗ cos(𝜃5 ) + 𝑟3𝐴𝐵 𝛼3𝐴𝐵 ∗ sin(𝜃3𝐴𝐵 )

𝑎6 =
𝑟5 ∗ sin(𝜃5 )

𝐺2 , 𝐺3 , 𝐺5

Figura 17-18. Análisis centros de masa del Mecanismo.

 Ilustración 19. Centro de masa eslabón OB-G2

𝑅2
𝑟21𝑥 (𝜃2 ) = ∗ cos(𝜃2 )
2
𝑅2
𝑟21𝑦 (𝜃2 ) = ∗ sin(𝜃2 )
2

0.02 0.02

0.01 0.01

( )
r21x  2 0 0 ( )
r21y  2

− 0.01 − 0.01

− 0.02 − 0.02
0 100 200 300 400 500
180
 2


𝑟21𝑥 𝑟21𝑦

𝑅2
𝑣𝐺2𝑥 (𝜃2 ) = − ∗ 𝜔2 ∗ 𝑠𝑖𝑛(𝜃2 )
2
𝑅2
𝑣𝐺2𝑦 (𝜃2 ) = ∗ 𝜔2 ∗ 𝑐𝑜𝑠(𝜃2 )
2
 1 1

0.5 0.5

( )
VG2x  2 0 0 VG2y  2( )
− 0.5 − 0.5

−1 −1
0 100 200 300 400 500
180
 2


𝑣𝐺2𝑥 𝑣𝐺2𝑦

𝑅2
𝑎𝐺2𝑥 (𝜃2 ) = − ∗ 𝜔2 2 ∗ 𝑐𝑜𝑠(𝜃2 )
2
𝑅2
𝑎𝐺2𝑦 (𝜃2 ) = − ∗ 𝜔2 2 ∗ 𝑠𝑖𝑛(𝜃2 )
2

60 60
40 40
20 20
( )
aG2x  2 0 0 ( )
aG2y  2
− 20 − 20
− 40 − 40
− 60 − 60
0 100 200 300 400 500
180
 2


𝑎𝐺2𝑥 𝑎𝐺2𝑦
 𝑅2 ∗ sin(𝜃2 )
𝜃3 (𝜃2) = tan−1( )
𝑅1 + 𝑅2 ∗ cos(𝜃2 )

𝑅2 ∗ sin(𝜃2 )
𝑟3𝐵𝐶 (𝜃2 ) =
sin(𝜃3 (𝜃2 ))

𝑅𝐺3 (𝜃2) = 𝑟3𝐵𝐶 (𝜃2) − 𝑅𝐵𝐺3

𝑅𝐺3𝑥 (𝜃2 ) = 𝑅𝐺3 (𝜃2 ) ∗ 𝑐𝑜𝑠(𝜃3 (𝜃2 ))

𝑅𝐺3𝑦 (𝜃2 ) = 𝑅𝐺3 (𝜃2 ) ∗ 𝑠𝑖𝑛(𝜃3 (𝜃2 ))

 𝑅𝐺3𝑥 𝑅𝐺𝑦

𝑅2 ∗ 𝜔2 ∗ cos(𝜃2 − 𝜃3 (𝜃2))
𝜔3𝐵𝐶 (𝜃2 ) =
𝑟3𝐵𝐶 (𝜃2 )

𝑣3𝐵𝐶 (𝜃2) = −𝑅2 ∗ 𝜔2 ∗ sin(𝜃2 − 𝜃3 (𝜃2 ))

𝑉𝐺3𝑥 (𝜃2 ) = −𝑅𝐺3 (𝜃2 ) ∗ 𝜔3𝐵𝐶 (𝜃2 ) ∗ 𝑠𝑖𝑛(𝜃3 (𝜃2 )) + 𝑣3𝐵𝐶 (𝜃2 ) ∗ 𝑐𝑜𝑠(𝜃3 (𝜃2 ))

𝑉𝐺3𝑦 (𝜃2 ) = 𝑅𝐺3 (𝜃2 ) ∗ 𝜔3𝐵𝐶 (𝜃2 ) ∗ 𝑐𝑜𝑠(𝜃3 (𝜃2 )) + 𝑣3𝐵𝐶 (𝜃2 ) ∗ 𝑠𝑖𝑛(𝜃3 (𝜃2 ))

𝑅𝐺3𝑥 𝑅𝐺𝑦
 𝑅2 ∗ 𝜔2 2 ∗ sin(𝜃2 − 𝜃3 (𝜃2)) + 2 ∗ 𝑣3𝐵𝐶 (𝜃2 ) ∗ 𝜔3𝐵𝐶 (𝜃2)
𝛼3𝐵𝐶 (𝜃2) = −
𝑟3𝐵𝐶 (𝜃2)

𝑎3𝐵𝐶 (𝜃2 ) = −𝑅𝐵𝐺3 ∗ 𝜔2 2 ∗ cos(𝜃2 − 𝜃3 (𝜃2 )) + 𝑟3𝐵𝐶 (𝜃2 ) ∗ 𝜔3𝐵𝐶 (𝜃2 )2

𝑎𝐺3𝑥 (𝜃2 ) = −𝑅𝐺3 (𝜃2 )(𝛼3𝐵𝐶 (𝜃2 ) ∗ 𝑠𝑖𝑛(𝜃3 (𝜃2 )) + 𝜔3𝐵𝐶 (𝜃2 )2 ∗ 𝑐𝑜𝑠(𝜃3 (𝜃2 ))) − 𝑣3𝐵𝐶 (𝜃2 )

∗ 𝜔3𝐵𝐶 (𝜃2 ) ∗ 𝑠𝑖𝑛(𝜃3 (𝜃2 )) + 𝑎3𝐵𝐶 (𝜃2 ) ∗ 𝑐𝑜𝑠(𝜃3 (𝜃2 )) − 𝑣3𝐵𝐶 (𝜃2 ) ∗ 𝜔3𝐵𝐶 (𝜃2 )

∗ 𝑠𝑖𝑛(𝜃3 (𝜃2 ))

𝑎𝐺3𝑦 (𝜃2 ) = −𝑅𝐺3 (𝜃2 )(𝛼3𝐵𝐶 (𝜃2 ) ∗ 𝑐𝑜𝑠(𝜃3 (𝜃2 )) − 𝜔3𝐵𝐶 (𝜃2 )2 ∗ 𝑠𝑖𝑛(𝜃3 (𝜃2 ))) + 𝑣3𝐵𝐶 (𝜃2 )

∗ 𝜔3𝐵𝐶 (𝜃2 ) ∗ 𝑐𝑜𝑠(𝜃3 (𝜃2 )) + 𝑎3𝐵𝐶 (𝜃2 ) ∗ 𝑠𝑖𝑛(𝜃3 (𝜃2 )) + 𝑣3𝐵𝐶 (𝜃2 ) ∗ 𝜔3𝐵𝐶 (𝜃2 )

∗ 𝑐𝑜𝑠(𝜃3 (𝜃2 ))

𝑎𝐺3𝑥 𝑎𝐺3𝑦
 −𝑟1− + 𝑅2 ∗ cos(𝜃2 ) + 𝑟3𝐴𝐵 ∗ cos(𝜃3 (𝜃2 ))
𝜃5 (𝜃2 ) = cos −1 ( )
𝑟5

𝑟6 (𝜃2 ) = −𝑟3𝐴𝐵 ∗ sin(𝜃3 (𝜃2 )) − 𝑅2 ∗ sin(𝜃2 ) + 𝑟5 ∗ sin (𝜃5 (𝜃2 ))

𝑅𝐺5𝑥 (𝜃2 ) = 2.4 ∗ 𝑟1− + 𝑅5− ∗ 𝑐𝑜𝑠 (𝜃5 (𝜃2 ))

𝑅𝐺5𝑦 (𝜃2 ) = −𝑟6 (𝜃2 ) + 𝑅5− ∗ 𝑠𝑖𝑛 (𝜃5 (𝜃2 ))

𝑟𝐺5𝑥 𝑟𝐺5𝑦
 𝑅2 ∗ 𝜔2 ∗ sin(𝜃2 ) + 𝑟3𝐵𝐶 ∗ 𝜔3𝐵𝐶 (𝜃2 ) ∗ sin(𝜃3 (𝜃2 ))
𝜔5 (𝜃2 ) =
𝑟5 ∗ sin(𝜃5 (𝜃2 ))

𝑅2 ∗ 𝜔2 ∗ sin(𝜃2 − 𝜃5 (𝜃2 )) + 𝑟3𝐴𝐵 ∗ 𝜔3𝐵𝐶 (𝜃2 ) ∗ sin(𝜃3 (𝜃2 ) − 𝜃5 (𝜃2 ))

𝑣6 (𝜃2 ) =
sin(𝜃5 (𝜃2 ))

𝑣𝐺5𝑥 (𝜃2 ) = 𝑣6 (𝜃2 ) − 𝑅5− ∗ 𝜔5 (𝜃2 ) ∗ 𝑠𝑖𝑛(𝜃5 (𝜃2 ))

𝑣𝐺5𝑦 (𝜃2 ) = 𝑣6 (𝜃2 ) + 𝑅5− ∗ 𝜔5 (𝜃2 ) ∗ 𝑐𝑜𝑠(𝜃5 (𝜃2 ))

2 4

1.5 2

( )
VG5x  2 1 0 VG5y  2( )
0.5 −2

0 −4
0 100 200 300 400 500
180
 2


𝑣𝐺5𝑥 𝑣𝐺5𝑦

𝑅2 𝜔2 2 ∗ cos(𝜃2 ) + 𝑟3𝐴𝐵 𝜔3𝐵𝐶 2 ∗ cos(𝜃3 (𝜃2 )) − 𝑟5 𝜔5 (𝜃2 )2 + 𝑟3𝐴𝐵 𝛼3𝐵𝐶 (𝜃2 ) sin(𝜃3 (𝜃2 ))
𝛼5 (𝜃2 ) =
𝑟5 − sin(𝜃5 (𝜃2 ))

𝑅2 𝜔2 2 cos(𝜃2 − 𝜃5 ) + 𝑟3𝐴𝐵 𝜔3𝐵𝐶 2 cos(𝜃3 − 𝜃5 ) − 𝑟5 𝜔5 (𝜃2 )2 + 𝑅3𝐴𝐵 𝛼3𝐵𝐶 sin(𝜃3 − 𝜃5 )

𝑎6 (𝜃2 ) =
sin(𝜃5 (𝜃2 ))

𝑎𝐺5𝑥 (𝜃2 ) = −𝑅5− ∗ (𝛼5 (𝜃2 ) ∗ 𝑠𝑖𝑛(𝜃5 (𝜃2 ) + 𝜔5 (𝜃2 )2 ∗ 𝑐𝑜𝑠(𝜃5 (𝜃2 )))

𝑎𝐺5𝑦 (𝜃2 ) = 𝑎6 (𝜃2 ) + 𝑅5− ∗ (𝛼5 (𝜃2 ) ∗ 𝑐𝑜𝑠(𝜃5 (𝜃2 ) − 𝜔5 (𝜃2 )2 ∗ 𝑠𝑖𝑛(𝜃5 (𝜃2 )))

60 200
40
100
20
( )
aG5x  2 0 0 ( )
aG5y  2
− 20
− 100
− 40
− 60 − 200
0 100 200 300 400 500
180
 2

𝑎𝐺5𝑥 𝑎𝐺5𝑦
 ⃗𝑭𝟐𝟑𝒚

⃗ 𝟐𝟑𝒙
𝑭

⃗ 𝑮𝟐𝒚
𝒎𝟐 𝒂
𝑅⃗23
𝑰𝑮𝟐 𝜶𝟐
⃗ 𝑮𝟐𝒙
𝒎𝟐 𝒂

𝑅⃗2
⃗𝑭𝟐𝟏𝒚 𝑅⃗21

⃗ 𝟐𝟏𝒙
𝑭
⃗⃗⃗
𝑴𝟐𝟏

∑𝐹 = 𝑚2 ⃗⃗⃗⃗⃗⃗
𝑎𝐺2

𝐹21 + 𝐹23 = 𝑚2 𝑎𝐺2 𝑥

𝐹21𝑥 + 𝐹23𝑥 = 𝑚2 𝑎𝐺2𝑥 (1)

𝐹21𝑦 + 𝐹23𝑦 = 𝑚2 𝑎𝐺2𝑦 (2)

∑𝑀𝑜 = 𝐼𝑜 ⃗⃗⃗⃗⃗
∝2

𝑅⃗2 ⨂𝐹23 + 𝑀
⃗⃗ 21 = 𝐼𝑜 𝛼2

𝑖 𝑗 𝑘
𝑟
| 2𝑥 𝑟2𝑦 ⃗⃗ 21 = 0
0| + 𝑀
𝐹23𝑥 𝐹23𝑦 0

𝑟2 𝐹23𝑦 − 𝑟2𝑦 𝐹23𝑥 + 𝑀21 = 0 (3)

 ⃗ 𝟑𝟓𝒚
𝑭

⃗𝑭𝟑𝟓𝒙
𝑅⃗3

⃗ 𝑮𝟑𝒚
𝒎𝟑 𝒂
⃗𝑭𝟑𝟐𝒚
𝑅⃗35
⃗𝑭𝟑𝟐𝒙
𝑰𝑮𝟑 𝜶𝟑
𝑅⃗34
⃗ 𝑮𝟑𝒙
𝒎𝟑 𝒂

𝜽𝟑 + 𝟐𝟕𝟎°

⃗𝑭𝑵𝑪

⃗ 𝑮𝟑
∑𝑭 = 𝒎𝟑 𝒂

𝐹35 + 𝐹32 + 𝐹𝑛𝑐 = 𝑚3 𝑎63

𝐹32 = −𝐹23

𝐹35𝑥 − 𝐹23𝑥 + 𝐹𝑁𝐶𝑥 = 𝑚3 𝑎63𝑥 (4)

𝐹35𝑦 − 𝐹23𝑦 − 𝐹𝑁𝐶𝑦 = 𝑚3 𝑎63𝑦 (5)

∑𝑴𝑮𝟑 = 𝑰𝑮𝟑 ⃗⃗⃗⃗⃗

∝𝟑

𝑅35 ⨂𝐹35 + 𝑅⃗32 ⨂𝐹32 + 𝑅⃗𝑁𝐶 ⨂𝐹𝑁𝐶 = 𝐼𝐺3 ⃗⃗⃗⃗⃗

∝3
𝑅35 ⨂𝐹35 + 𝑅⃗32 ⨂(−𝐹
⃗⃗⃗⃗⃗⃗⃗⃗⃗ ⃗ ⃗⃗⃗⃗⃗3
23 ) + 𝑅𝑁𝐶 ⨂𝐹𝑁𝐶 = 𝐼𝐺3 ∝

𝑖 𝑗 𝑘 𝑖 𝑗 𝑘
| 𝑟35𝑥 𝑟35𝑦 0| + | 𝑟32𝑥 𝑟32𝑦 0| +
𝐹35𝑥 𝐹35𝑦 0 −𝐹23𝑥 −𝐹23𝑦 0
𝑖 𝑗 𝑘
| 𝑟𝑁𝐶𝑥 𝑟𝑁𝐶𝑦 0| = 𝐼63 ⃗⃗⃗⃗⃗
∝3
−𝐹𝑁𝐶𝑥 −𝐹𝑁𝐶𝑦 0

𝑟35𝑥 𝐹35𝑦 − 𝑟35𝑦 𝐹35𝑥 − 𝑟32𝑥 𝐹23𝑦 + 𝑟32𝑦 𝐹23𝑥 − 𝑟𝑁𝐶𝑥 𝐹𝑁𝐶𝑦 + 𝑟𝑁𝐶𝑦𝐹𝐶𝑁𝑥 = 𝐼𝐺3 ∝3 (6)
 ⃗ 𝑵𝑪
𝑭

⃗𝑭𝟒𝟑𝒙 𝜽𝟑 + 𝟗𝟎°

⃗ 𝟒𝟑𝒚
𝑭

∑𝐹 = 𝑚4 𝑎4

𝐹43 + 𝐹𝑁𝐶 = 𝑚4𝑎4

𝐹43 = −𝐹34

−𝐹34𝑥 − 𝐹𝐶𝑁𝑥 = 0 (7)

−𝐹34𝑦 + 𝐹𝐶𝑁𝑦 = 0 (8)
−𝐹34𝑥 − 𝐹𝐶𝑁 cos (𝜽𝟑 + 𝟗𝟎°) = 0 (7)
−𝐹34𝑦 + 𝐹𝐶𝑁 sen (𝜽𝟑 + 𝟗𝟎°) = 0 (8)
 ⃗ 𝟓𝟑𝒙
𝑭

⃗ 𝟓𝟑𝒚
𝑭

⃗ 𝑮𝟓𝒚
𝒎𝟓 𝒂

⃗ 𝑮𝟓𝒙
𝒎𝟓 𝒂

𝑰𝑮𝟓 𝜶𝟓

⃗𝑭𝟓𝟔𝒚
⃗𝑭𝟓𝟔𝒙

∑𝐹 = 𝑚5 𝑎𝐺5

𝐹53 + 𝐹56 = 𝑚6 𝑎𝐺6

𝐹53 = −𝐹35

−𝐹35𝑥 + 𝐹56𝑥 = 𝑚5 𝑎𝐺5𝑥 (9)

−𝐹35𝑦 + 𝐹56𝑦 = 𝑚5 𝑎𝐺5𝑦 (10)

∑𝑀 = 𝐼𝐺5 ∝5

⃗⃗⃗⃗⃗⃗
𝑅53 ⨂𝐹 ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗
53 + 𝑅56 ⨂𝐹56 = 𝐼𝐺5 ∝5
⃗⃗⃗⃗⃗⃗
𝑅 ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗
53 ⨂(−𝐹35 ) + 𝑅56 ⨂𝐹56 = 𝐼𝐺5 ∝5

𝑖 𝑗 𝑘 𝑖 𝑗 𝑘
𝑟
| 53𝑥 𝑟53𝑦 0| + | 𝑟56𝑥 𝑟56𝑦 0| = 𝐼𝐺5 ∝5
−𝐹35𝑥 −𝐹35𝑦 0 𝐹65𝑥 𝐹56𝑦 0

−𝑟53𝑥 𝐹35𝑦 + 𝑟53𝑦 𝐹35𝑥 + 𝑟56𝑥 𝐹56𝑦 − 𝑟56𝑦 𝐹56𝑥 = 𝐼𝑔6 ∝6 (11)
 ⃗𝑭𝟔𝟓𝒚

⃗ 𝟔𝟓𝒙
𝑭
⃗𝑭𝑵𝑪𝒙

⃗𝟔
𝒎𝟔 𝒂

∑𝑭 = 𝒎𝟔 𝒂𝟔

𝐹65 + 𝐹61 = 𝑚6 𝑎6
𝐹65 = −𝐹56

−𝐹56𝑥 + 𝐹𝑁𝐶𝑥 = 0 (12)

−𝐹65𝑦 = 𝑚6 𝑎6 (13)

𝐹21𝑥 + 𝐹23𝑥 = 𝑚2 𝑎𝐺2𝑥 (1)

𝐹21𝑦 + 𝐹23𝑦 = 𝑚2 𝑎𝐺2𝑦 (2)
𝑟2𝑋 𝐹23𝑦 − 𝑟2𝑦 𝐹23𝑥 + 𝑀21 = 0 (3)

𝐹35𝑥 − 𝐹23𝑥 + 𝐹34𝑥 + 𝐹𝑁𝐶𝑥 𝑐𝑜𝑠(𝜃3 + 270°) = 𝑚3 𝑎63𝑥 (4)

𝐹35𝑦 − 𝐹23𝑦 + 𝐹34𝑦 + 𝐹𝑁𝐶𝑦 𝑠𝑒𝑛(𝜃3 + 270°) = 𝑚3 𝑎63𝑦 (5)
𝑟35𝑥 𝐹35𝑦 − 𝑟35𝑦 𝐹35𝑥 + 𝑟34𝑥 𝐹34𝑦 − 𝑟34𝑦 𝐹34𝑥 − 𝑟32𝑥 𝐹23𝑦 + 𝑟32𝑦 𝐹23𝑥 − 𝑟𝑁𝐶𝑥 𝐹𝑁𝐶2𝑦
− 𝑟𝑁𝐶𝑦 𝐹𝐶𝑁𝑥
= 𝐼𝐺3 ∝3 (6)
−𝐹34𝑥 − 𝐹𝐶𝑁𝑥 cos (𝜃3 + 90°) = 0 (7)
 −𝐹34𝑦 + 𝐹𝐶𝑁𝑦 sen (𝜃3 + 90°) = 0 (8)
−𝐹35𝑥 + 𝐹56𝑥 = 𝑚5 𝑎𝐺5𝑥 (9)
−𝐹35𝑦 + 𝐹56𝑦 = 𝑚5 𝑎𝐺5𝑦 (10)
−𝑟53𝑥 𝐹35𝑦 + 𝑟53𝑦 𝐹35𝑥 + 𝑟56𝑥 𝐹56𝑦 − 𝑟56𝑦 𝐹56𝑥 = 𝐼𝑔6 ∝6 (11)
−𝐹56𝑥 + 𝐹𝑁𝐶𝑥 = 0 (12)
−𝐹65𝑦 = 𝑚6 𝑎6 (13)

( ) ( )
r2y 2 = r2  sin 2 ( ) ( ( )) ( ( ))
r34y 2 = r34 3 2  sin 3 2 ( ) ( ( ))
r35y 2 = r35 sin 3 2

( ) ( ( )) ( ( ))
r34x 2 = r34 3 2  cos 3 2 ( ) ( ( ))
r35x 2 = r35 cos 3 2
( ) ( )
r2x 2 = r2  cos 2
x(2) = cos (3(2) + 270) ( ) ( ( ))
r56y 2 = r56 sin 5 2

( ) ( ( ))
r32y 2 = r32 sin 3 2 y(2) = sin(3(2) + 270)
( ) ( ( ))
r56x 2 = r56 cos 5 2

( ) ( ( ))
r32x 2 = r32 cos 3 2 ( ) ( ( ) )
x1 2 = cos 3 2 + 90

⃗⃗⃗⃗ y1(2) = sin(3(2) + 90)

𝑅2 = ⃗⃗⃗⃗
𝑅2
𝑟2𝑥 = 𝑟2 cos (𝜃2 )
𝑟2𝑦 = 𝑟2 sin (𝜃2 )

𝑘𝑔
ρ𝑎𝑐𝑒𝑟𝑜 = 8000 l𝑂𝐵 = 0.03m l4D = 0.15m lAE = 0.08m
𝑚3

𝑚
𝜌𝑎𝑐𝑒𝑟𝑜 = 𝑚 = 𝜌𝑎𝑐𝑒𝑟𝑜 ∗ 𝑣
𝑣

𝑣 = 𝜋 ∗ 𝑅2 ∗ ℎ

𝑚 = 𝜌𝑎𝑐𝑒𝑟𝑜 ∗ 𝜋 ∗ 𝑅2 ∗ ℎ
1
𝐼𝑜 = 𝑚 𝑙2
12 0∗ 0
 𝑙𝐺2

2
𝑚𝑂𝐵 = 𝜌𝑎𝑐𝑒𝑟𝑜 ∗ 𝜋 ∗ 𝑅𝑂𝐵 ∗ 𝑙𝑂𝐵
𝑚𝑂𝐵 = 𝜌𝑎𝑐𝑒𝑟𝑜 ∗ 𝜋 ∗ (𝑟)2 ∗ 𝑙𝑂𝐵
𝑘𝑔
𝑚𝑂𝐵 = 8000 ∗ 𝜋 ∗ (0.01𝑚)2 ∗ (0.03𝑚) = 0.0753𝐾𝑔
𝑚3

1
𝐼𝑂𝐵 = 𝑚 𝑙2
12 𝑂𝐵∗ 𝑂𝐵
1
𝐼𝑂𝐵 = (0.0752 𝐾𝑔)(0.03𝑚)2 = 0.00000564 𝐾𝑔 ∗ 𝑚2
12

𝑙𝐺3

2
𝑚𝐴𝐷 = 𝜌𝑎𝑐𝑒𝑟𝑜 ∗ 𝜋 ∗ 𝑅𝐴𝐷 ∗ 𝑙𝐴𝐷
𝑚𝐴𝐷 = 𝜌𝑎𝑐𝑒𝑟𝑜 ∗ 𝜋 ∗ (𝑟)2 ∗ 𝑙𝐴𝐷
𝑘𝑔
𝑚𝐴𝐷 = 8000 3
∗ 𝜋 ∗ (0.01𝑚)2 ∗ (0.15𝑚) = 0.3769𝐾𝑔
𝑚

1 2
𝐼𝐴𝐷 = 12 𝑚𝐷∗ 𝑙𝐴𝐷
1
𝐼𝐴𝐷 = 12 (0.3769 𝐾𝑔)(0.15𝑚)2 = 0.0007066 𝐾𝑔 ∗ 𝑚2

𝑙𝐺5

2
𝑚𝐴𝐸 = 𝜌𝑎𝑐𝑒𝑟𝑜 ∗ 𝜋 ∗ 𝑅𝐴𝐸 ∗ 𝑙𝐴𝐸
𝑚2 = 𝜌𝑎𝑐𝑒𝑟𝑜 ∗ 𝜋 ∗ (𝑟)2 ∗ 𝑙𝐴𝐸
𝑘𝑔
𝑚𝐴𝐸 = 8000 3
∗ 𝜋 ∗ (0.01𝑚)2 ∗ (0.08𝑚) = 0.2010 𝐾𝑔
𝑚
 1
𝐼𝐴𝐸 = 𝑚 𝑙2
12 𝐴𝐸∗ 𝐴𝐸
1
𝐼𝐴𝐸 = (0.2010 𝐾𝑔)(0.08𝑚)2 = 0.0001072 𝐾𝑔 ∗ 𝑚2
12

𝑚6 = 𝜌𝑎𝑐𝑒𝑟𝑜 ∗ 0.15 ∗ 0.08 ∗ 0.03 = 0.288 𝐾𝑔

[𝐺 ] ⋅ {𝐹𝑖𝑗 } = {𝐹𝑒𝑓 }

 m
1 0 0 1 0 0 0 0 0 0 0 0 0 
0 1 0 0 1 0 0 0 0 0 0 0 0
 m
  
0 0 1 −r2y( 2) r2x( 2) 0 0 0 0 0 0 0 0 
0 0 0 −1 0 1 0 x( 2) 1 0 0 0 0
  m
  
0 0 0 0 −1 0 1 y ( 2) 0 1 0 0 0 m
  I
0 0 0 r32y( 2) −r32x( 2) −r34y( 2) r34x( 2) 0 −r35y( 2)  cos ( 3( 2) + 270) r35x( 2)  sin ( 3( 2) + 270) 0 0 0  G
Fef ( 2) = 
Ma ( 2) =  0 −1 −x1( 2)

 0 0 0 0 0 0 0 0 0 0
 
0 0 0 0 0 0 −1 y 1( 2) 0 0 0 0 0 
   m
0 0 0 0 0 0 0 0 −1 0 1 0 0 m
0 0 0 0 0 0 0 0 0 −1 0 1 0 
   I
0 0 0 0 0 0 0 0 −r35y( 2) r35x( 2) −r56y( 2) r56x( 2) 0  
0 0 0 0 0 0 0 0 0 0 −1 0 1 
   m
0 0 0 0 0 0 0 0 0 0 0 −1 0 
GRAFICAS:

F21x y F21Y M21

F23x y F23Y F34x y F34Y

FNC
F35x y F35Y

F56x y F56Y MNE

 𝐹𝑆𝑋 = 𝛴𝐹𝑋
𝐹𝑆𝑋 = 𝐹13𝑋 + 𝐹12𝑋 − 𝐹𝑁𝐶𝑋
𝐹13𝑋 = −𝐹34𝑋 𝐹12𝑋 = −𝐹21𝑋

𝐹𝑆𝑋
𝐹𝑆𝑋 = −𝐹34𝑋 −𝐹21𝑋 − 𝐹𝑁𝐶𝑋

𝐹𝑆𝑌 = 𝛴𝐹𝑌
𝐹𝑆𝑌 = 𝐹13𝑌 + 𝐹12𝑌
𝐹13𝑌 = −𝐹34𝑌 𝐹12𝑌 = −𝐹21𝑌

𝐹𝑆𝑌
𝐹𝑆𝑌 = −𝐹34𝑌 −𝐹21𝑌

𝐹𝑆 = √𝐹𝑆𝑋 2 + 𝐹𝑆𝑌 2
 𝑀𝑆 = −𝑀12 + 𝑅1 ∗ 𝐹13𝑦

𝑀12 = −𝑀21 𝐹13 = −𝐹34𝑦

𝑀𝑆
𝑀𝑆 = 𝑀21 − 𝑅1 ∗ 𝐹34𝑦
 ⃗𝑹
⃗𝟐

⃗⃗⃗⃗⃗
𝑅𝐵 = 𝑅⃗⃗⃗⃗2

𝑟𝑏𝑦 = 𝑟5 ∗ sin (𝜃2 )

𝑟𝑏𝑥 = 𝑟5 ∗ cos (𝜃2 )

𝑟𝑏𝑥 𝑟𝑏𝑦
 ⃗⃗⃗⃗
𝑅𝐴 = ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑅3𝐶𝐵 + ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑅3𝐴𝐵
𝑟𝐴𝑦 = 𝑟3𝐵𝐶 (𝜃2 ) ∗ sin(𝜃3 (𝜃2 )) + 𝑟3𝐴𝐵 ∗ sin(𝜃3 (𝜃2 ))

𝑟𝐴𝑥 = 𝑟3𝐵𝐶 (𝜃2 ) ∗ cos(𝜃3 (𝜃2 )) + 𝑟3𝐴𝐵 ∗ cos(𝜃3 (𝜃2 ))

𝑟𝑎𝑥 𝑟𝑎𝑦
𝜃3 (𝜃2 ) 𝜃3𝐴𝑆 (𝜃2) 𝑟3𝐵𝐶 (𝜃2 )

𝜃3𝐴𝑆 (𝜃2) 𝑟3𝐵𝐶 (𝜃2 )

𝑣3𝐵𝐶 (𝜃2 ) 𝜔3𝐵𝐶 (𝜃2)

𝑣3𝐵𝐶 (𝜃2 ) 𝜔3𝐵𝐶 (𝜃2)

𝑎3𝐵𝐶 (𝜃2 ) 𝑎3𝐴𝑆 (𝜃2 ) 𝛼3𝐵𝐶 (𝜃2 )

𝑎3𝐴𝑆 (𝜃2 ) 𝛼3𝐵𝐶 (𝜃2)

𝜃5 (𝜃2 ) 𝜃5𝐴𝑆 (𝜃2) 𝑟6 (𝜃2 )

𝜃5𝐴𝑆 (𝜃2 ) 𝑟6 (𝜃2 )

𝑣6 (𝜃2 ) 𝜔5 (𝜃2 )

𝑣6 (𝜃2 ) 𝜔5 (𝜃2 )
𝑎6 (𝜃2 ) 𝛼5 (𝜃2 )

𝑎6 (𝜃2 ) 𝛼5 (𝜃2 )
 0.02 0.02

0.01 0.01

( )
r21x  2 0 0 ( )
r21y  2

− 0.01 − 0.01

− 0.02 − 0.02
0 100 200 300 400 500
180
 2

𝑟𝐺2𝑥 𝑟𝐺2𝑦
𝑟𝐺2𝑥 𝑟𝐺2𝑦

1 1

0.5 0.5

( )
VG2x  2 0 0 VG2y  2 ( )
− 0.5 − 0.5

−1 −1
0 100 200 300 400 500
180
 2


𝑣𝐺2𝑥 𝑣𝐺2𝑦 𝑣𝐺2𝑥 𝑣𝐺2𝑦

 60 60
40 40
20 20
( )
aG2x  2 0 0 aG2y  2( )
− 20 − 20
− 40 − 40
− 60 − 60
0 100 200 300 400 500
180
 2


𝑎𝐺2𝑥 𝑎𝐺2𝑦 𝑎𝐺2𝑥 𝑎𝐺2𝑦

0.08 0.03
0.02
0.06
0.01
( )
RG3x  2 0.04 0 ( )
RG3y  2
− 0.01
0.02
− 0.02
0 − 0.03
0 100 200 300 400 500
180
 2


𝑟𝐺3𝑥 𝑟𝐺𝑦 𝑟𝐺3𝑥 𝑟𝐺𝑦

 2 2

1
1
( )
VG3x  2 0 VG3y  2( )
0
−1

−2 −1
0 100 200 300 400 500
180
 2


𝑣𝐺3𝑥 𝑟𝐺𝑦 𝑣𝐺3𝑥 𝑣𝐺3𝑦

150 100
100 50

( )
aG3x  2
50
0 ( )
aG3y  2
0
− 50 − 50

− 100 − 100
0 100 200 300 400 500
180
 2


𝑎𝐺3𝑥 𝑎𝐺3𝑦 𝑎𝐺3𝑥 𝑎𝐺3𝑦

 𝑟𝐺5𝑥 𝑟𝐺5𝑦 r𝐺5𝑥 r𝐺5𝑦

2 4

1.5 2

( )
VG5x  2 1 ( )
0 VG5y  2

0.5 −2

0 −4
0 100 200 300 400 500
180
 2


𝑣𝐺5𝑥 𝑣𝐺5𝑦 v𝐺5𝑥 v𝐺5𝑦

60 200
40
100
20
( )
aG5x  2 0 0 ( )
aG5y  2
− 20
− 100
− 40
− 60 − 200
0 100 200 300 400 500
180
 2


𝑎𝐺5𝑥 𝑎𝐺5𝑦 𝑎𝐺5𝑥 𝑎𝐺5𝑦

𝐹21𝑥 𝐹21𝑦 𝐹21𝑥 𝐹21𝑦

𝐹34𝑥 𝐹34𝑦
𝐹34𝑥 𝐹34𝑦

𝐹23𝑥 𝐹23𝑦 𝐹32𝑥 𝐹32𝑦

 𝐹23𝑥 𝐹23𝑦 𝐹32𝑥 𝐹32𝑦

80 20
60 0
40
− 20
( )
F34y  2 20 ( )
F34x  2
− 40
0
− 20 − 60
− 40 − 80
0 100 200 300 400 500
180
 2

F34x y F34Y
F34x y F34Y

F35x y F35Y F53x y F53Y

 F35x y F35Y F55x y F53Y

F56x y F35Y F56x y F56Y

𝑟𝑏𝑥 𝑟𝑏𝑦 𝑟𝑏𝑥 𝑟𝑏𝑦

𝑟𝐴𝑥 𝑟𝐴𝑦 𝑟𝐴𝑥 𝑟𝐴𝑦
DAVID H. MYSZKA. (2012). MÁQUINAS Y MECANISMOS -- PEARSON –MÉXICO, MÉXICO, 4TA.
EDICIÓN, CAPS. 6,7.
JAIME F. ECHEVERRIA, OLMEDO (2020). MECANISMOS Y VIBRACIONES. FUNDAMENTOS DE
ANÁLISIS CINEMÁTICO Y DINÁMICO - ECHEVERRIA - OLMEDO 1A EDICION, CAP 2 Y 3.
Anexo. GRÁFICAS SIMULACIÓN VELOCIDAD LINEAL PUNTO D-O
Anexo. GRÁFICAS SIMULACIÓN ACELARACIÓN D-O

Anexo. CURVAS DE ACOPLADOR B

Anexo. CURVA DE ACOPLADOR A

Anexo. RUTA DE TRAZO E

Anexo. RUTA DE TRAZO E

Anexo. RUTA DE TRAZO D