𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄 𝟎𝟎: 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂 𝐠𝐠𝐠𝐠𝐠𝐠𝐠 𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩 𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯

𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃:
- Motor-reductor planetario: N = 300 rpm
- Ángulo inclinación rampa (α) = 20°
- Geométricas: Figura 1: Camión grúa para vehículos
• z1 = z3 = 30; z2 = 100 ; z4 = 130
• Øtambor = 200 mm
- Masas e inercias:
• mvehículo = 1200 kg
• J1 = J3 = 0.07 kgm2
• J2 = J4 = J5 = 0.1 kgm2
• Jm = 0.05 kgm2
- Rendimientos:
• η1= 0.9
• η2= 0.9
• η3 = 0,95

Figura 1: Mecanismo de elevación 1

𝐚𝐚) 𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄 𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜 (𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝𝐝)

𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀 𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂

𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 1 𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 2 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇

𝜔𝜔1 𝑀𝑀1 𝑧𝑧2 100 𝜔𝜔2 𝑀𝑀2 𝑧𝑧4 130 𝜔𝜔3 𝑀𝑀3 𝑉𝑉4 𝐹𝐹4
M 𝑊𝑊1
𝑖𝑖1 =
𝑧𝑧1
=
𝜂𝜂1 = 0,9
30
𝑊𝑊2
𝑖𝑖2 =
𝑧𝑧3
=
𝜂𝜂2 = 0,9
30
𝑊𝑊3
𝑉𝑉4 = 𝜔𝜔3 ⋅ 𝑅𝑅3
𝜂𝜂4 = 0,95
𝑊𝑊4

Transmisión de movimiento Transformación de movimiento

𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃𝐃: 𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅𝐅:
𝜔𝜔 𝑟𝑟 𝑧𝑧
2 ⋅ 𝜋𝜋 𝑖𝑖 = 𝜔𝜔1 = 𝑟𝑟2 = 𝑧𝑧2 = ⋯ (1)
𝑁𝑁1 = 300 rpm → 𝜔𝜔1 = 300 ⋅ = 31,41 𝑟𝑟𝑎𝑎𝑎𝑎/𝑠𝑠 2 1 1
60
𝑊𝑊
𝑚𝑚 = 1200 kg→ 𝐹𝐹4 = 𝑚𝑚 ⋅ 𝑔𝑔 ⋅ sin 20º = 4022 𝑁𝑁 𝜂𝜂 = 𝑊𝑊2 (2)
1
𝐹𝐹4
𝛼𝛼 = 20º 𝑊𝑊 = 𝑀𝑀 ⋅ 𝜔𝜔 = 𝐹𝐹 ⋅ 𝑣𝑣 (3)
𝑅𝑅3 = 0,1 𝑚𝑚 𝑀𝑀2 = 𝜂𝜂 ⋅ 𝚤𝚤̇ ⋅ 𝑀𝑀1 (4)
𝑚𝑚 ⋅ 𝑔𝑔 2
𝐚𝐚𝐚) 𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄 𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜 (𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬)
Es posible simplificar el sistema de dos modos:
1. Unión de sistemas de transmisión de movimiento:
𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀 𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂

𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 1 𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 2 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇

𝜔𝜔1 𝑀𝑀1 𝑧𝑧2 100 𝜔𝜔2 𝑀𝑀2 𝑧𝑧4 130 𝜔𝜔3 𝑀𝑀3 𝑉𝑉4 𝐹𝐹4
M 𝑊𝑊1
𝑖𝑖1 =
𝑧𝑧1
=
𝜂𝜂1 = 0,9
30
𝑊𝑊2
𝑖𝑖2 =
𝑧𝑧3
=
𝜂𝜂2 = 0,9
30
𝑊𝑊3
𝑉𝑉4 = 𝜔𝜔3 ⋅ 𝑅𝑅3
𝜂𝜂4 = 0,95
𝑊𝑊4

Transmisión de movimiento Transformación de movimiento

2. Unión de transmisión y transformación de movimiento:
𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀 𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂

𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 1 𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 2 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇

𝜔𝜔1 𝑀𝑀1 𝑧𝑧2 100 𝜔𝜔2 𝑀𝑀2 𝑧𝑧4 130 𝜔𝜔3 𝑀𝑀3 𝑉𝑉4 𝐹𝐹4
M 𝑊𝑊1
𝑖𝑖1 =
𝑧𝑧1
=
𝜂𝜂1 = 0,9
30
𝑊𝑊2
𝑖𝑖2 =
𝑧𝑧3
=
𝜂𝜂2 = 0,9
30
𝑊𝑊3
𝑉𝑉4 = 𝜔𝜔3 ⋅ 𝑅𝑅3
𝜂𝜂4 = 0,95
𝑊𝑊4

3
Transmisión de movimiento Transformación de movimiento
𝐚𝐚𝐚) 𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄𝐄 𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜𝐜 (𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬)
1. Unión de sistemas de transmisión de movimiento:
𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀 𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂

𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 1 − 2 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇
𝜔𝜔1 𝑀𝑀1 𝑧𝑧2 𝑧𝑧4 100 130 𝜔𝜔1 𝜔𝜔1 𝜔𝜔3 𝑀𝑀3 𝑉𝑉4 𝐹𝐹4
M 𝑊𝑊1
𝑖𝑖1−2 = 𝑖𝑖1 ⋅ 𝑖𝑖2 = ⋅ =
𝑧𝑧1 𝑧𝑧3
⋅
30 30
= 14,44 =
𝜔𝜔3
𝜂𝜂1−2 = 𝜂𝜂1 ⋅ 𝜂𝜂2 = 0,9 ⋅ 09 = 0,81
→ 𝜔𝜔3 =
14,44
𝑊𝑊3
𝑉𝑉4 = 𝜔𝜔3 ⋅ 𝑅𝑅3
𝜂𝜂4 = 0,95
𝑊𝑊4

Transmisión de movimiento Transformación de movimiento

2. Unión de transmisión y transformación de movimiento:

𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀𝐀 𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓𝐓 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂

𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 1 − 2 + 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇
𝜔𝜔1 𝑀𝑀1 𝜔𝜔1 𝜔𝜔1 𝜔𝜔1 ⋅ 𝑅𝑅3 𝑉𝑉4 𝐹𝐹4
M 𝑊𝑊1
𝑉𝑉4 = 𝜔𝜔3 ⋅ 𝑅𝑅3 =
𝜂𝜂1−4
𝑖𝑖1−2
⋅ 𝑅𝑅3 =
𝑖𝑖1 ⋅ 𝑖𝑖2
⋅ 𝑅𝑅3 =
= 𝜂𝜂1 ⋅ 𝜂𝜂2 ⋅ 𝜂𝜂4 = 0,9 ⋅ 09 ⋅ 0,95 = 0,7695
14,44
𝑊𝑊4

Transmisión y transformación de movimiento 4

b) 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂 𝐝𝐝𝐝𝐝 𝐥𝐥𝐥𝐥 𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯𝐯 𝐚𝐚 𝐥𝐥𝐥𝐥 𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬𝐬 (V4)
1. Con el esquema desglosado: 2. Con el esquema simplificado:
𝜔𝜔1 𝑧𝑧2 100 𝜔𝜔1 31,41 ⋅ 30 𝑟𝑟𝑎𝑎𝑎𝑎 𝜔𝜔1 ⋅ 𝑅𝑅3 31,41 ⋅ 0,1
𝑖𝑖1 = = = → 𝜔𝜔2 = = = 9,423 𝑉𝑉4 = → 𝑉𝑉4 = = 𝟎𝟎, 𝟐𝟐𝟐𝟐𝟐𝟐𝟐𝟐 𝒎𝒎/𝒔𝒔
𝜔𝜔2 𝑧𝑧1 30 100 100 𝑠𝑠 𝑖𝑖1−2 14,44
30
𝜔𝜔2 𝑧𝑧4 130 𝜔𝜔2 30 ⋅ 9,423 𝑟𝑟𝑎𝑎𝑎𝑎
𝑖𝑖2 = = = → 𝜔𝜔3 = = = 2,175
𝜔𝜔3 𝑧𝑧3 30 130 130 𝑠𝑠
30
𝑉𝑉4 = 𝜔𝜔3 ⋅ 𝑅𝑅3 → 𝑉𝑉4 = 2,175 ⋅ 0,1 = 𝟎𝟎, 𝟐𝟐𝟐𝟐𝟐𝟐𝟐𝟐 𝒎𝒎/𝒔𝒔

c) 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂 𝐝𝐝𝐝𝐝𝐝𝐝 𝐩𝐩𝐩𝐩𝐩𝐩 𝐲𝐲 𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩 𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧𝐧 𝐝𝐝𝐝𝐝𝐝𝐝 𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦 (M4 , P4)

1. Con el esquema desglosado: 2. Con el esquema simplificado:
𝑊𝑊4 𝐹𝐹4 ⋅ 𝑉𝑉4 𝐹𝐹4 ⋅ 𝑉𝑉4 4022 ⋅ 0,2175 𝑊𝑊4 𝐹𝐹4 ⋅ 𝑉𝑉4 𝐹𝐹4 ⋅ 𝑉𝑉4
𝜂𝜂4 = = → 𝑀𝑀3 = = = 423,37 𝑁𝑁𝑁𝑁 𝜂𝜂1−4 = = → 𝑀𝑀1 =
𝑊𝑊3 𝑀𝑀3 ⋅ 𝜔𝜔3 𝜂𝜂4 ⋅ 𝜔𝜔3 0,95 ⋅ 2,175 𝑊𝑊1 𝑀𝑀1 ⋅ 𝜔𝜔1 𝜂𝜂1−4 ⋅ 𝜔𝜔1
𝑀𝑀3 423,37 4022 ⋅ 0,2175
𝑀𝑀3 = 𝜂𝜂2 ⋅ 𝑖𝑖2 ⋅ 𝑀𝑀2 → 𝑀𝑀2 = = = 108,56 𝑁𝑁𝑁𝑁 = = 𝟑𝟑𝟑𝟑, 𝟏𝟏𝟏𝟏 𝑵𝑵𝑵𝑵
𝜂𝜂2 ⋅ 𝑖𝑖2 0,9 ⋅ 130 0,7695 ⋅ 31,41
30
𝑀𝑀2 108,56
𝑀𝑀2 = 𝜂𝜂1 ⋅ 𝑖𝑖1 ⋅ 𝑀𝑀1 → 𝑀𝑀1 = = = 𝟑𝟑𝟑𝟑, 𝟏𝟏𝟏𝟏 𝑵𝑵𝑵𝑵
𝜂𝜂1 ⋅ 𝑖𝑖1 0,9 ⋅ 100
30
El moto-reductor planetario deberá suministrar al sistema un par nominal de 36,19 Nm y una potencia nominal de:
𝑃𝑃1 = 𝑀𝑀1 ⋅ 𝜔𝜔1 = 36,19 ⋅ 31,41 = 𝟏𝟏𝟏𝟏𝟏𝟏𝟏𝟏, 𝟕𝟕𝟕𝟕 𝒘𝒘 5
 d) 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂 𝐝𝐝𝐝𝐝 𝐥𝐥𝐥𝐥 𝐢𝐢𝐢𝐢𝐢𝐢𝐢𝐢𝐢𝐢𝐢𝐢𝐢𝐢 𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞𝐞 𝐞𝐞𝐞𝐞 𝐞𝐞𝐞𝐞 𝐞𝐞𝐞𝐞𝐞𝐞 𝐝𝐝𝐝𝐝𝐝𝐝 𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦 (Jeq )
Situación de masas e inercias en la cadena cinemática:
𝑱𝑱𝒆𝒆𝒆𝒆 𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 1 𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸𝐸 2 𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇𝑇
𝜔𝜔1 𝑀𝑀1 𝑧𝑧2 100 𝜔𝜔2 𝑀𝑀2 𝑧𝑧4 130 𝜔𝜔3 𝑀𝑀3 𝑉𝑉4 𝐹𝐹4
M 𝑊𝑊1
𝑖𝑖1 =
𝑧𝑧1
=
𝜂𝜂1 = 0,9
30
𝑊𝑊2
𝑖𝑖2 =
𝑧𝑧3
=
𝜂𝜂2 = 0,9
30
𝑊𝑊3
𝑉𝑉4 = 𝜔𝜔3 ⋅ 𝑅𝑅3
𝜂𝜂4 = 0,95
𝑊𝑊4
𝐽𝐽𝑚𝑚 𝐽𝐽1 𝐽𝐽2 𝐽𝐽3 𝐽𝐽4 𝐽𝐽5 𝑚𝑚

1 1 1 𝐽𝐽2 + 𝐽𝐽3
𝐸𝐸𝐸𝐸𝐸𝐸 2 → ⋅ 𝐽𝐽2 ′ + 𝐽𝐽3 ′ ⋅ 𝜔𝜔12 = ⋅ ⋅ 𝐽𝐽2 + 𝐽𝐽3 ⋅ 𝜔𝜔22 → 𝐽𝐽2′ + 𝐽𝐽3′ = 2
2 𝜂𝜂1 2 𝑖𝑖1 ⋅ 𝜂𝜂1
𝐽𝐽𝑒𝑒𝑒𝑒 = (𝐽𝐽𝑚𝑚 +𝐽𝐽1 ) + 𝐽𝐽2′ + 𝐽𝐽3′ + 𝐽𝐽′ 4 + 𝐽𝐽5′ + (𝐽𝐽𝑚𝑚 ′)
0,1 + 0,07
𝐽𝐽2′ + 𝐽𝐽3′ = 2 = 0,017 𝑘𝑘𝑘𝑘𝑚𝑚2
100
Eje 1 Eje 1 Eje 2 Eje 3 Eje 4 ⋅ 0,9
30
(entrada) (salida) 1 1 1 𝐽𝐽4 + 𝐽𝐽5
𝐸𝐸𝐸𝐸𝐸𝐸 3 → ⋅ 𝐽𝐽4 ′ + 𝐽𝐽5 ′ ⋅ 𝜔𝜔12 = ⋅ ⋅ 𝐽𝐽4 + 𝐽𝐽5 ⋅ 𝜔𝜔32 → 𝐽𝐽4′ + 𝐽𝐽5′ = 2 2
2 𝜂𝜂1 ⋅ 𝜂𝜂2 2 𝑖𝑖1 ⋅ 𝑖𝑖2 ⋅ 𝜂𝜂1 ⋅ 𝜂𝜂2
𝐽𝐽𝑒𝑒𝑒𝑒 = 0,05 + 0,07 + 0,017 + 0,0012 + 0,0743
0,1 + 0,1
𝐽𝐽4′ + 𝐽𝐽5′ = 2 2 = 0,0012 𝑘𝑘𝑘𝑘𝑚𝑚2
𝑱𝑱𝒆𝒆𝒆𝒆 = 𝟎𝟎, 𝟐𝟐𝟐𝟐𝟐𝟐𝟐𝟐 𝒌𝒌𝒌𝒌𝒎𝒎𝟐𝟐 100 130
⋅ ⋅ 0,9 ⋅ 0,9
30 30
1 1 1
𝐸𝐸𝐸𝐸𝐸𝐸 4 → ⋅ 𝐽𝐽𝑚𝑚 ′ ⋅ 𝜔𝜔12 = ⋅ ⋅ 𝑚𝑚 ⋅ 𝑉𝑉42
2 𝜂𝜂1 ⋅ 𝜂𝜂2 ⋅ 𝜂𝜂4 2
′
1 1
𝐽𝐽𝑚𝑚 ⋅= ⋅ 1200 ⋅ 0,21752 ⋅ 2
= 0,0743 𝑘𝑘𝑘𝑘𝑚𝑚2 6
0,9 ⋅ 0,9 ⋅ 0,95 31,41
e) 𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂𝐂 𝐝𝐝𝐝𝐝𝐝𝐝 𝐩𝐩𝐩𝐩𝐩𝐩 𝐲𝐲 𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩𝐩 𝐝𝐝𝐝𝐝 𝐚𝐚𝐚𝐚𝐚𝐚𝐚𝐚𝐚𝐚𝐚𝐚𝐚𝐚𝐚𝐚 𝐝𝐝𝐝𝐝𝐝𝐝 𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦𝐦 (Ma , Pa)
Par de arranque: 𝑀𝑀𝑎𝑎 = 𝑀𝑀𝑛𝑛𝑛𝑛𝑛𝑛 + 𝑀𝑀𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎

Par nominal (diap. 5): 𝑀𝑀𝑛𝑛𝑛𝑛𝑛𝑛 = 𝑀𝑀1 = 36,19 𝑁𝑁𝑁𝑁

Par de aceleración: 𝑀𝑀𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 𝐽𝐽𝑒𝑒𝑒𝑒 ⋅ 𝛼𝛼𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎

𝜔𝜔1 31,41 𝑟𝑟𝑎𝑎𝑎𝑎
𝛼𝛼𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = = = 314,1 2
Δ𝑡𝑡 0,1 𝑠𝑠
𝑀𝑀𝑎𝑎𝑎𝑎𝑎𝑎𝑎𝑎 = 0,2125 ⋅ 314,1 = 66,75 Nm

Par de arranque: 𝑀𝑀𝑎𝑎 = 36,19 + 66,75 = 102,94 𝑁𝑁𝑁𝑁

Potencia de arranque: 𝑃𝑃𝑎𝑎 = 𝑀𝑀𝑎𝑎 ⋅ 𝜔𝜔𝑚𝑚 = 102,94 ⋅ 31,41 = 3233,35 𝑤𝑤 ≈ 3,23 𝑘𝑘𝑘𝑘

¡Cuidado! En realidad, no es
constante ya que está acelerando.