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# Datos

## RPM ≔ 1200 rpm

π
w2 ≔ RPM ⋅ ―
30
r1y ≔ 30 mm
r2 ≔ 45 mm

r3 ≔ 100 mm

θ3 ＝ ?
r1 ＝ ?
θ2 ≔ 0 , 30 ° ‥ 360 °

## ECUACIÓN DE CIERRE DEL CIRCUITO

r1 ＝ r2 + r3

Se deberá utilizar la ecuación de Euler, para efecto de cumplir con el desarrollo del ejercicio
por el método analítico del algebra compleja
e i ⋅ θ ＝ cosθ + i ⋅ senθ

## Para ecuación de cierre, se deberá aplicar Euler

r1 ＝ r2 + r3

r1x + i ⋅ r1y ＝ r2 ⋅ e i ⋅ θ2 + r3 ⋅ e i ⋅ θ3

r1x + i ⋅ r1y ＝ r2 ⋅ ⎛⎝cos ⎛⎝θ2⎞⎠ + i ⋅ sen ⎛⎝θ2⎞⎠⎞⎠ + r3 ⋅ ⎛⎝cos ⎛⎝θ3⎞⎠ + i ⋅ sen ⎛⎝θ3⎞⎠⎞⎠

## r1y ＝ r2 ⋅ sen ⎛⎝θ2⎞⎠ + r3 ⋅ sen ⎛⎝θ3⎞⎠ Ec. 2

ANÁLISIS DE POSICIÓN

De Ec.2

## ⎛ r1y - r2 ⋅ sin ⎛⎝θ2⎞⎠ ⎞

θ3 ⎛⎝θ2⎞⎠ ≔ asin ⎜―――――⎟ Ecuación general de un sistema
⎝ r3 ⎠ biela maniela corredera

## r1x ⎛⎝θ2⎞⎠ ≔ r2 ⋅ cos ⎛⎝θ2⎞⎠ + r3 ⋅ cos ⎛⎝θ3 ⎛⎝θ2⎞⎠⎞⎠

⎡ 0.305 ⎤ ⎡ 0.14 ⎤
⎢ 0.075 ⎥ ⎢ 0.139 ⎥
⎢ ⎥ ⎢ ⎥
⎢ -0.09 ⎥ ⎢ 0.122 ⎥
⎢ -0.151 ⎥ ⎢ 0.099 ⎥
⎢ -0.09 ⎥ ⎢ 0.077 ⎥
⎢ 0.075 ⎥ ⎢ 0.061 ⎥
⎢ ⎥ ⎢ ⎥
θ3 ⎛⎝θ2⎞⎠ = 0.305 r1x ⎛⎝θ2⎞⎠ = 0.05 m
⎢ ⎥ ⎢ ⎥
⎢ 0.553 ⎥ ⎢ 0.046 ⎥
⎢ 0.761 ⎥ ⎢ 0.05 ⎥
⎢ 0.848 ⎥ ⎢ 0.066 ⎥
⎢ 0.761 ⎥ ⎢ 0.095 ⎥
⎢ ⎥ ⎢ ⎥
⎢ 0.553 ⎥ ⎢ 0.124 ⎥
⎣ ⋮ ⎦ ⎣⋮ ⎦

## GRÁFICA POSICIÓN ANGULAR VS θ2

0.9

0.8

0.7

0.6

0.5

0.4

0.3 θ3 ⎛⎝θ2⎞⎠
0.2

0.1

0
0 0.65 1.3 1.95 2.6 3.25 3.9 4.55 5.2 5.85 6.5
-0.1

-0.2

θ2
GRÁFICA DESPLAMIENTO DE LA CORREDERA VS θ2

0.141

0.132

0.122

0.113

0.103

0.094
r1x ⎛⎝θ2⎞⎠ ((m))
0.084

0.075

0.065

0.056

0.046

0 0.65 1.3 1.95 2.6 3.25 3.9 4.55 5.2 5.85 6.5
θ2

r1 ⋅ e i ⋅ θ1 ＝ r2 ⋅ e i ⋅ θ2 + r3 ⋅ e i ⋅ θ3
d ⎛⎝r1x + i ⋅ r1y⎞⎠ d ⎛⎝r2 ⋅ e i ⋅ θ2⎞⎠ d ⎛⎝r3 ⋅ e i ⋅ θ3⎞⎠
――――― ＝ ―――― + ――――
dt dt dt

## d ⎛⎝e i ⋅ θ2⎞⎠ d ⎛⎝e i ⋅ θ3⎞⎠

v1x + i ⋅ 0 ＝ r2 ⋅ ――― + r3 ⋅ ―――
dt dt
v1x + i ⋅ 0 ＝ r2 ⋅ e i ⋅ θ2 ⋅ i ⋅ w2 + r3 ⋅ e i ⋅ θ2 ⋅ i ⋅ w3

v1x + i ⋅ 0 ＝ i ⋅ r2 ⋅ w2 ⋅ e i ⋅ θ2 + i ⋅ r3 ⋅ w3 ⋅ e i ⋅ θ3

## 0 ＝ -r2 ⋅ w2 ⋅ cos ⎛⎝θ2⎞⎠ - r3 ⋅ w3 ⋅ cos ⎛⎝θ3⎞⎠ Ec. 2

De la ecuación 2, despejo w3

## r3 ⋅ w3 ⋅ cos ⎛⎝θ3⎞⎠ ＝ r2 ⋅ w2 ⋅ cos ⎛⎝θ2⎞⎠ Ec. 3

r2 ⋅ w2 ⋅ cos ⎛⎝θ2⎞⎠
w3 ⎛⎝θ2⎞⎠ ≔ -――――― Ec. 4
r3 ⋅ cos ⎛⎝θ3 ⎛⎝θ2⎞⎠⎞⎠
Para v1

## Reemplazando la ecuación 4 en la ecuación 1

⎛ r2 ⋅ w2 ⋅ cos ⎛⎝θ2⎞⎠ ⎞
v1 ＝ -r2 ⋅ w2 ⋅ sin ⎛⎝θ2⎞⎠ - r3 ⋅ ⎜-―――――⎟ ⋅ sin ⎛⎝θ3⎞⎠
⎝ r3 ⋅ cos ⎛⎝θ3 ⎛⎝θ2⎞⎠⎞⎠ ⎠

## v1 ⎛⎝θ2⎞⎠ ≔ -r2 ⋅ w2 ⋅ sin ⎛⎝θ2⎞⎠ - tan ⎛⎝θ3 ⎛⎝θ2⎞⎠⎞⎠ ⋅ r2 ⋅ w2 ⋅ cos ⎛⎝θ2⎞⎠

⎡ -6.208 ⎤ ⎡ -0.186 ⎤
⎢ -5.143 ⎥ ⎢ -0.335 ⎥
⎢ ⎥ ⎢ ⎥
⎢ -2.973 ⎥ ⎢ -0.486 ⎥
-16
⎢ -3.667 ⋅ 10 ⎥ ⎢ -0.592 ⎥
⎢ 2.973 ⎥ ⎢ -0.54 ⎥
⎢ 5.143 ⎥ ⎢ -0.258 ⎥
⎢ ⎥ 1 ⎢ ⎥ m
w3 ⎛⎝θ2⎞⎠ = ⎢ 6.208 ⎥― v1 ⎛⎝θ2⎞⎠ = ⎢ 0.186 ⎥ ―
6.026 s s
⎢ ⎥ ⎢ 0.612 ⎥
⎢ 4.089 ⎥ ⎢ 0.795 ⎥
⎢ 1.645 ⋅ 10 -15 ⎥ ⎢ 0.592 ⎥
⎢ ⎥ ⎢ 0.231 ⎥
⎢ -4.089 ⎥ ⎢ ⎥
⎢ -6.026 ⎥ ⎢ -0.02 ⎥
⎢⎣ ⋮ ⎥⎦ ⎣ ⋮ ⎦

## GRÁFICA VELOCIDAD ANGULAR VS θ2

0 ⎛1⎞
-1
0 0.65 1.3 1.95 2.6 3.25 3.9 4.55 5.2 5.85 6.5 w3 ⎛⎝θ2⎞⎠ ⎜―⎟
⎝s⎠
-2

-3

-4

-5

-6

-7

θ2
GRÁFICA VELOCIDAD DE LA CORREDERA VS θ2

0.9

0.75

0.6

0.45

0.3

0.15 ⎛m⎞
v1 ⎛⎝θ2⎞⎠ ⎜―⎟
0 ⎝ s ⎠
0 0.65 1.3 1.95 2.6 3.25 3.9 4.55 5.2 5.85 6.5

-0.15

-0.3

-0.45

-0.6

θ2