Mecatoni

Mecunismob Onidad 2

EGerlelu
Reolver Pars encontrav osti un,Vekbuidud

Detos
Sey
Inypitus
sey'

S A:2ry (r, tos , -r, cos 0z) BZr4lr, Sen O, -Y, Sen Or)
A:2(6) (10 cos 0 - 3 cos 135) B:2(6) (I0 Ser O- 3 sen 35)
A-I9S.4558 B -2sYsSE
C=Y,tr-r4r, - 7r,r, (os (.,-e.) l0+ 3-i2+ 6' - (2(0(3)) cos (e- (3s)
C 43.64
-(-25.4ss8) t Js.yssy'+ (-2545Ss) +t3.464
(* 43.4264 - 14s 45 S8

4, -i..0292
Ouz 97. 17 S4, (abiert)

(= 2r (, Sen , -r, Sen G)

D: z(2)(3 coy 3S - 10 co, o)

¬ So.q||6
D= -140.9| 1G

f l0t 3'+12'-6?- 2(0" 3) Cos ( 3s -o)

2s4.42 64 ( F-D

e3 ton - S0.96 t Je290.91()+ S0.916 2s9.42s42 3,= 20.S8q0 (abiet a)

zS9-4264 - (-290.9|16) 3 -O.94 23 ( cruzata)
abiert
M-w, r, Sen ( er-0:) S (3) sen (13s-63.74)
ry Sen (eu-3) 6 Sen ( 103.0%44- 63.744)
Conf igurcac'un albi er to :
S(3) sen ( 03.0849 - 63.74y)
(03- O4) 12 sen (63.74ul - 103.0r9)
(s.7594) (6)cos (103.6aN4 -
K,: (-1.25 ( I2) + s3)cos (135- 63.744) T Is (3) sen (i35-G5.744) -
63.749). 6 Sen (103.0 Y9 - 3,74)

ls 7 (e): s' (3) cos (i35 -i03.0149) - 1s (3) sen (i1$-103.0t49) - (-1.2s)(2)ca l<s.M -103.ot44)
|2 Sen ( 63.744| .103.07YY)

e35. 0340
6)
Dertus

Sey

IS.131 S

A: 206) (is.31S Cos IsG.801S

100-3GG

D:(2)) lces (-13-198s)- 1s.2SiS Col |3L.tos) 312. 37Y

E (2) (6)(6 Sen -23 -9) - I3-245 Sen |S6.8o1S) -133.1S4

F: (i5.13s)'6tZ-G- (1s 2s1s)Cos (-\z0)7r.725
- (-133.is) J sIZ.374 4(-13351s-478.7765
Mecmismu)
Ycva el mecanimu mostvado en u fig , encunter posteion , velocidud aceleraciun

c)

w* 14.4

C:rltr-r Zr Cos (e,- )

C-4+28El - t'-2(4-z.s) Cos ( o-45)
c 7.491S
B=2(1) (4 seno-2.82Y sen 4s) 7.44Y

C-A
7.4925 - 8
-79.9518
.36 67 D: z()(2.828 co, 4S -4 cos 0)
¬= 2r3(rz sen -r seo )
E=z0l2.118 sen s - 4 cos 0) 7 7.4984

Fr'4 -r,- Zrire Cos (e,-e) = t L.82 +z-2- 2(4*2.e) cos (4S - o) =
F-D 8 -(-8)

39.9% 74 Sen (14-9RA) 914 Wu 39.9E19 Sen (l3Ys)

2 Sen &9.33Y 2 Sen &9.44ts

19.9r79 Sen - 89.NG3

w, 34 .4% Tn Sen 89.359Y = -1q.994
2en -4.35Y 2 Sen 59,9463

Con (89.3N)
e,: 799.S62 0 S6S .u79) Cos (uu.at86) 4 4.1 Sen (4u,98t6) - 40 0.3940

<.: YOO .s4 - S6S yzq cos (- 443662)-IN,14 sen (-4..3642) - 799.s6 30 (o> (- 8.33)
-l.Q4S8
 w, 00 ey

rË7.&7 84

A. -2r 4) JA9,94q 7 + (-28 .14y - y9.49gr Ou I74.947

O.00O3 u-2.0076

-la.q487
f= 2 2.¿46) {4 Se 4S- 7.74 cos )
Is.9495
f= (7.t184Z) yt hig2u?) s-2(7.87 84)(9) Co (45 -0)

- (-19.9987) 1 J -2E.28 5K)' +(-7.4987)- (S.q9)

, - 2tun 32 -8a, qq47
Y9.2833
9997))
Wy : (100 )() Sen (4S -(-84
9,9997))
s Sen (i79.9497-(-

(1op) ( )sen (l79.9997- (-89.9q997))_ - 4 y2 17

2.8184 Sen (-89.4947 i S9.9097)
-0.3o 27
SGS64.075 t 28284. Yiq3 t2.278

16000. I4S6- ? 2s4277292-0 S423, -438$.2435

 63,Smn 4.7la
)O, -30
6) O;20
c) ,:s0° 0. trl):-.M173
1A

S.8210

YM6.6b7(dn 1LS -04

G:2 (6 .do) (}.1607 3er (-3.437) seh (-30) -s4.413

O ( 3 . 2)(6 co -30) - n.16oT cos (-3E.43 73)2 -27.466

Els. 74)(G Sen (-50) -n.740l Sen(3.4373) 3O .399

C-A (:
3, 6 .0742
32: -I91.7734
Cruzodu
10() en (-30- (- 19.7234)
(.E02 sen (I65.qy3$ -(-I4.734) 3.79 Sen(-Il.7lS4 -IC5.9v2)

10(6) Sen (-30- (4G.0742) :-9.8 720 ad Io (G) Sen (9F 707l - 46.0742)
6.t02 sen ( I65. 993- 46.0747) 7.79 Sen (6.0742-qt4071)

(-60 Sen (165.qY3S t 1.7239)

y= 96.64r8 rad ( Alierta)

3. 79 (Sen (-l4.74 6s .943s)

4.4r 74 (Abierta