Nro.

PFR
Análisis dinámico de mecanismos Página 1/25
Código :
Tema : Semestre: V
X-finger Grupo : B

X-finger

Apellidos y Nombres Nota

ALARCON VILCA ADDERLY

DELGADO SAIRE JUNIOR JAVIER
Integrantes
PACSI VILCA RODRIGO JAVIER
PAREDES RAMOS JAVIER

Profesor: EMERSON ARROYO

Programa profesional: PFR Grupo: B

Fecha de entrega: 04 09 201

8
Momento máximo de apertura

a=2.15 ;θ 2=130 °

b=1; θ 3=?

c=4.4 ; θ 4=?

d=2.9 ; θ 1=0 °

Pa+ Pba−Pbo 4−Po 4=0

Notación de Euler
j (θ 2) j(θ 3) j( θ4) j ( θ 1)
ae +be −c e −d e =0
 Reemplazando

2,15 e j(130° ) +1 e j(θ 3)−4.4 e j ( θ 4) −2.9 e j (0 ° )=0

2.15 ( cos ( 130 ) + jsen ( 130 ) ) +1 ( cos ( θ 3 )+ jsen (θ 3 ) )−4.4 ( cos ( θ 4 ) + jsen ( θ 4 ) )−2.9=0

Calculando

−1.38+1.65 j+ 1cos (θ 3 )+ jsen (θ 3 )−4.4 cos ( θ 4 )−4.4 jsen ( θ 4 )−2.9=0

Separando reales de imaginarios

Reales:

−1.38+1 cos ( θ 3 )−4.4 cos ( θ 4 )−2.9=0

cos ( θ 3 ) =4.4 cos (θ 4 )+ 4.28

Imaginarios:

1.65 j+ jsen ( θ 3 )−4.4 jsen ( θ 4 )=0

jsen ( θ 3 )=4.4 jsen ( θ 4 )−1.65 j

( jsen ( θ 3 ) ¿/ j=(4.4 jsen ( θ 4 )−1.65 j)/ j

sen (θ 3 )=4.4 sen ( θ 4 )−1.65

Se sabe que:

x
¿
¿
x
¿
¿
sen ¿
2 2
Entonces se elevara R ,I

cos ( θ 3 )
¿
:¿
R2 ¿

sen (θ 3 )
¿
:¿
I 2¿
 2
Resolviendo R

cos ( θ 3 )
¿
¿
¿

1 cos2 (θ 3 )=19.36 cos 2 ( θ 4 ) +37.66 cos ( θ 4 ) +18.32

2
Resolviendo I

sen (θ 3 )
¿
¿
¿

1 sen2 ( θ 3 )=19.36 sen2 ( θ 4 )−14.52 sen ( θ 4 ) +2.72

Sumando R2 + I 2

R2 :1 cos 2 ( θ 3 ) =19.36 cos2 ( θ 4 )+ 37.66 cos ( θ 4 )+ 18.32

2 2 2
I :1 sen ( θ 3 )=19.36 sen ( θ 4 )−14.52 sen ( θ 4 ) +2.72

x
¿
¿
Resolviendo x
¿
¿
sen ¿

1 ( 1 ) =19.36(1)+ 37.66 cos ( θ 4 )−14.52 sen ( θ 4 ) +21.04

0=39.4+37.66 cos ( θ 4 ) −14.52 sen ( θ 4 )

Se sabe que:

x
2 tan ⁡( )
2
sen ( x ) =
x
1+ tan 2 ( )
2

x
1−tan 2 ( )
2
cos ( x )=
x
1+ tan 2 ( )
2

Reemplazando
 0=39.4+37.66 cos ( θ 4 ) −14.52 sen ( θ 4 )

θ4
) 2 tan ⁡(
2
−14.52(¿ )
2 θ4
1+ tan ( )
2
θ4
1−tan 2 ( )
2
0=39.4+37.66( )¿
2 θ4
1+ tan ( )
2

Calculando

θ4
−14.52(¿
( 2 )
)
2 tan

θ4
1+tan ( )
2
2

(
θ4

)
1−tan ( ) 2
2 θ4
¿ 1+ tan ( ) 2
39.4+37.66
θ4 2
1+ tan ( ) 2
2
(0)=¿

θ4
2 tan ⁡( )
2
−14.52(¿ )
1
2 θ4
1−tan ( )
0=39.4(1+ tan
2
( θ24 ))+37.66 ( 1
2
)¿

0=39.4+39.4 tan 2 ( θ24 )+37.66−37.66 tan ( θ24 )−29.04 tan ⁡( θ24 )

2

Reemplazando tan ( θ24 )=x

2 2
0=39.4+39.4 x +37.66−37.66 x −29.04 x
2
0=1.74 x −29.04 x +77.06

Entonces:

−b ± √ 4 (b) −4(a)(c)
2
x 1,2=
2(a)
 −(−29.04 ) + √ 4 (−29.04)2−4(1.74 )(77.06)
x 1=
2(1.74)

x 1=13.37

−(−29.04 ) −√ 4 (−29.04)2 −4 (1.74)(77.06)

x 2=
2(1.74)

x 2=3.31

Entonces:

tan ( θ24 )=x 1

tan ( θ24 )=¿ 13.37

θ 4 1=171.45 °

tan ( θ24 )=x 2

tan ( θ24 )=3.31

θ 4 2=146.38 °

Reemplazando θ 4 1,2 en la ecuación “reales”

cos ( θ 3 ) =4.4 cos (θ 4 )+ 4.28

cos ( θ 31 ) =4.4 cos ( 171.45° ) + 4.28

θ 31=94.07 °

cos ( θ 3 ) =4.4 cos (θ 4 )+ 4.28

cos ( θ 3 ) =4.4 cos (146.38 )+ 4.28

θ 32=52.04 °

a=2.15 ;θ 2=130 °

b=1; θ 3=94.07 ° ; 52.04 °

 c=4.4 ; θ 4=171.45 ° ; 146.38 °

d=2,9 ; θ 1=0°

Posiciones del punto máximo de apertura.

P} rsub {b} , {P} rsub {c}

Hallamos el punto P} rsub {a} , ¿
¿
 j θ2 j 130
Pa=a e =2.15 e =2.15 cos ( 130 ) +2.15 jsen ( 130 )=−1.38+1.647 j

PB =P A + PBA
jθ 3 j 86.1
PBA =b e =1 e =1 cos ( 86.41 ) +1 sen ( 86.1 ) =−0.068+ 0.997 j

PB =P A + PBA =(−1.38+1.647 j ) + (−0.068+0.997 j )=−1.44+2.64

PB =−1.44 +2.64

PP =P A + P PA
jθ j(130+16.43)
PPA ¿ pe =2.98 e =2.98 cos (146.43 )+2.98 jsen(146.43)

PPA =−2.482+1.647 j

PP =P A + P PA=(−1.38+1.647 j ) + (−2.482+1.647 j )=−3.862+3.294 j

Pp=−2.482+1.647 j

Segundo mecanismo
 e=2.65 ; θ 6=101.84 °

f =1.1; θ 7=?

c=2.15 ; θ 8=?

d=1 ; θ 5=0 °

Pa+ Pba−Pbo 4−Po 4=0

Notación de Euler

a e j (θ 2) + b e j(θ 3)−c e j ( θ 4 )−d e j (θ 1)=0

Reemplazando

2,65 e j(101.84 °) +1.1 e j(θ 3) −2.15 e j (θ 4 )−1 e j (0 ° )=0

2.65 ( cos ( 101.84 )+ jsen (101.84 ) ) +1.1 ( cos ( θ 3 ) + jsen ( θ 3 ) ) −2.15 ( cos ( θ 4 ) + jsen ( θ 4 )−1 ) =0

Calculando

−05437+2.59 j+1.1 cos ( θ 3 ) +1.1 jsen ( θ 3 )−2.15 cos ( θ 4 )−2.15 jsen ( θ 4 )−1=0

Separando reales de imaginarios

Reales:

−0.549+ 1.1cos (θ 3 )−2.15 cos ( θ 4 )−1=0

1.1 cos ( θ 3 )=2.15 cos ( θ 4 ) −1.54

Imaginarios:
 2.65 j+1.1 jsen (θ 3 )−2.15 jsen ( θ 4 )=0

1.1 sen ( θ 3 )=2.15 sen ( θ 4 )−2.59

Se sabe que:

x
¿
¿
x
¿
¿
sen ¿
2 2
Entonces se elevara R ,I

1.21 cos 2 ( θ 3 )=4.622 cos2 ( θ 4 )+ 6.62cos ( θ 4 )+ 2.37

II

1.21 sen 2 ( θ 3 )=4.622 sen 2 ( θ 4 ) −11.143 sen (θ 4 )+6.71

2 2
Sumando R +I

x
¿
¿
Resolviendo x
¿
¿
sen ¿

1.21 ( 1 ) =4.622 ( 1 )+ 6.62cos ( θ 4 )−11.14 sen ( θ 4 ) +9.08

0=12.49+ 6.62cos ( θ 4 )−11.14 sen ( θ 4 )

Se sabe que:

x
2 tan ⁡( )
2
sen ( x ) =
x
1+tan 2 ( )
2

x
1−tan 2 ( )
2
cos ( x )=
x
1+ tan 2 ( )
2

Reemplazando
 0=12.49+ 6.62cos ( θ 4 )−11.14 sen ( θ 4 )

θ4
2 tan ⁡(
)
2
−11.14 (¿ )
2 θ4
1+tan ( )
2
θ4
1−tan 2 ( )
2
0=12.49+ 6.62( )¿
2 θ4
1+ tan ( )
2

Calculando

θ4
2 tan ⁡( )
2
−11.14 (¿ )
1
θ4
1−tan 2 ( )
θ4 2
0=12.49(1+tan 2
2 ( )
)+6.62(
1
)¿

0=12.49+ 12.49 tan 2 ( θ24 )−6.62+6.62( θ24 )−11.14 tan ⁡( θ24 )

Reemplazando tan ( θ24 )=x
2
5.87 x −22.28 x +19.11

Entonces:

−b ± √ 4 (b)2−4(a)(c)
x 1,2=
2(a)

−(−22.28 ) + √ 4 (−22.28)2−4 ( 5.87 ) (19.11)

x 1=
2( 5.87)

x 1=¿ 2.53

−(−22.28 )− √ 4(−22.28)2−4 (5.87)(19.11)

x 2=
2(5.87)

x 2=1.29

Entonces:
 tan ( θ24 )=x 1

tan ( θ24 )=2.53

θ 4 1=136.86 °

tan ( θ24 )=x 2

tan ( θ24 )=1.29

θ 4 2=104.43 °

Reemplazando θ 4 1,2 en la ecuación “reales”

1.1 cos ( θ 3 )=2.15 cos ( θ 4 ) −0.709

1.1 cos ( θ 31 )=2.15 cos ( 136.86 )−0.709

θ 31=91.45 °

1.1 cos ( θ 3 )=2.15 cos ( θ 4 ) −0.709

1.1 cos ( θ 3 )=2,65 cos ( 104.43 ) −0709

θ 32=24.11 °

Posiciones de punto máximo de apertura

 j θ2 j 101.84°
PA=ae =2.65 e =2.65 cos ⁡( 101.84 °)+ 2.65 jsen(101.84 °)

PA=−0.543+2.59 j

PB=PA+ PBA

PA=−0.543+2.59 j
j θ3
PBA=BA=be =1.1 cos ( 91.45 ) +1.1 jsen(91.45)

PA=−0.027+1.009 j

PB=PA+ PBA

¿−0.543+2.59 j−0.027 +1.009 j

PB=−0.57+3.599 j

PP=PB+ PPB
j θ3 j 141.45°
PPB=be =1.2 e

PPB=1.2cos ⁡( 141.45 ° )+ 1.2 jsen(141.45° )

PPB=−0.93+0.7478 J

PP=PB+ PPB

PP=−0.57+3.599 j −0.93+0.7478 J

PP=−1.5+4.3468 J
Momento mínimo de cierre

a=2.15 ;θ 2=92 °

b=1; θ 3=?

c=4.4 ; θ 4=?

d=2.9 ; θ 1=0 °

Pa+ Pba−Pbo 4−Po 4=0

Notación de Euler

a e j (θ 2) + b e j(θ 3)−c e j ( θ 4 )−d e j (θ 1)=0

Reemplazando
j(92 °) j (θ 3) j( θ 4 ) j (0 ° )
2.15 e +1 e −4.4 e −2.9 e =0
2.15 ( cos ( 92 ) + jsen ( 92 ) ) +1 ( cos (θ 3 )+ jsen ( θ3 ) )−4.4 ( cos ( θ 4 ) + jsen ( θ 4 ) ) −2.9=0

Calculando

−0.075+ 2.148 j+1cos ( θ 3 ) + jsen ( θ 3 )−4.4 cos ( θ 4 )−4.4 jsen ( θ 4 )−2.9=0

Separando reales de imaginarios

Reales:

−0.075+ 1cos (θ 3 )−4.4 cos ( θ 4 )−2.9=0

cos ( θ 3 ) =4.4 cos (θ 4 )+ 2.975

Imaginarios:

2.148 j+ jsen ( θ 3 )−4.4 jsen ( θ 4 )=0

jsen ( θ 3 )=4.4 jsen ( θ 4 )−2.148 j

( jsen ( θ 3 ) ¿/ j=( 4.4 jsen ( θ 4 )−2.148 j)/ j

sen (θ 3 )=4.4 sen ( θ 4 )−2.148

Se sabe que:

x
¿
¿
x
¿
¿
sen ¿
2 2
Entonces se elevara R ,I

cos ( θ 3 )
¿
:¿
R2 ¿

sen (θ 3 )
¿
:¿
2
I ¿
2
Resolviendo R
 cos ( θ 3 )
¿
¿
¿

1 cos2 (θ 3 )=19.36 cos 2 ( θ 4 ) +26.18 cos ( θ 4 ) +8.85

Resolviendo I2

sen (θ 3 )
¿
¿
¿

1 sen2 ( θ 3 )=19.36 sen2 ( θ 4 )−18.90 sen ( θ 4 ) + 4.61

2 2
Sumando R +I

R2 :1 cos 2 ( θ 3 ) =19.36 cos2 ( θ 4 )+ 26.18 cos ( θ 4 )+ 8.85

I 2 :1 sen2 ( θ 3 )=19.36 sen2 ( θ 4 )−18.90 sen (θ 4 )+ 4.61

x
¿
¿
Resolviendo x
¿
¿
sen ¿

1 ( 1 ) =19.36(1)+ 26.18 cos ( θ 4 )−18.90 sen (θ 4 ) +13.46

0=31.82+ 26.18cos ( θ 4 )−18.90 sen ( θ 4 )

Se sabe que:

x
2 tan ⁡( )
2
sen ( x ) =
x
1+tan 2 ( )
2

x
1−tan 2 ( )
2
cos ( x )=
x
1+ tan 2 ( )
2

Reemplazando 0=31.82+ 26.18cos ( θ 4 )−18.90 sen ( θ 4 )

 θ4
2 tan ⁡(
)
2
−18.90( ¿ )
2 θ4
1+ tan ( )
2
θ4
1−tan 2 ( )
2
0=31.82+ 26.18( )¿
2 θ4
1+ tan ( )
2

Calculando

θ4
−18.90(¿
( 2 )
2 tan
)
θ4
1+ tan ( ) 2
2

( )
θ4
1−tan ( ) 2
2 θ4
¿ 1+ tan ( ) 2
31.82+26.18
θ4 2
1+tan ( ) 2
2
(0)=¿

θ4
2 tan ⁡( )
2
−18.90( ¿ )
1
θ4
1−tan 2 ( )
0=31.82(1+ tan 2 ( θ24 ))+ 26.18( 1
2
)¿

0=31.82+31.82 tan 2 ( θ24 )+ 26.18−26.18 tan ( θ24 )−37.80 tan ⁡( θ24 )

2

Reemplazando tan ( θ24 )=x

2 2
0=31.82+31.82 x + 26.18−26.18 x −37.80 x

0=5.64 x2 −37.80 x +58

Entonces:

−b ± √ 4 (b)2−4(a)(c)
x 1,2=
2(a)
 −(−37.80 ) + √ 4 (−37.80)2−4 (5.64)(58)
x 1=
2( 5.64)

x 1=4.32

−(−37.80 )− √ 4(−37.80)2−4 (5.64)(58)

x 2=
2(5.64)

x 2=2.38

Entonces:

tan ( θ24 )=x 1

tan ( θ24 )=4.32

θ 4 1=153.93 °

tan ( θ24 )=x 2

tan ( θ24 )=2.38

θ 4 2=134.41°

Reemplazando θ 4 1,2 en la ecuación “reales”

cos ( θ 3 ) =4.4 cos (θ 4 )+ 2.975

cos ( θ 31 ) =4.4 cos ( 153.93° ) +2.975

θ 31=167.68 °

cos ( θ 3 ) =4.4 cos (θ 4 )+ 2.975

cos ( θ 3 ) =4.4 cos (134.41 ) +2.975

θ 32=95.96 °

a=2.15 ;θ 2=92 °

b=1; θ 3=167.68° ; 95.92 °

 c=4.4 ; θ 4=153.93 ° ; 134.42 °

d=2,9 ; θ 1=0°

Posiciones del punto minimo de cierre

P} rsub {B} , {P} rsub {C}

Hallamos el punto P} rsub {A} , ¿ en 92°
¿

P A =a e j θ =2.15 e j 130 =2.15 cos ( 92 ) +2.15 jsen ( 92 )=−0.075+ 2.148 j

2

P A =−0.075+ 2.148 j

PB =P A + PBA
jθ 3 j 12.32
PBA =b e =1 e =1 cos ( 12.32 )+1 sen ( 12.32 )=0.98+0.21 j

PB =P A + PBA =(−0.075+2.148 j ) +(0.98+0.21 j )=0.905+2.358 j

PB =0.905+2.358 j

jθ j(92+16.43)
PPA ¿ pe =2.98 e =2.98cos ( 108.43 )+ 2.98 jsen(108.43)

PPA =−0.94+2.83 j

PP =P A + P PA=(−0.075+2.148 j ) + (−0.94+ 2.83 j )=−1.015+4.978 j

Pp=−1.015+4.978 j
Segundo mecanismo.

e=2.65 ; θ 6=49.82°

f =1.1; θ 7=?

c=2.15 ; θ 8=?

d=1 ; θ 5=0 °
 Pa+ Pba−Pbo 4−Po 4=0

Notación de Euler

a e j (θ 2) + b e j(θ 3)−c e j ( θ 4 )−d e j (θ 1)=0

Reemplazando

2,65 e j(49.82 °) +1.1 e j (θ 3) −2.15 e j (θ 4 )−1 e j (0 ° )=0

2.65 ( cos ( 49.82 )+ jsen ( 49.82 ) ) +1.1 ( cos ( θ 3 ) + jsen ( θ 3 ) ) −2.15 ( cos ( θ 4 ) + jsen ( θ 4 )−1 )=0

Calculando

1.709+2.02 j +1.1cos ( θ 3 ) +1.1 jsen ( θ 3 ) −2.15 cos ( θ 4 )−2.15 jsen ( θ 4 )−1=0

Separando reales de imaginarios

Reales:

−1.709+1.1 cos ( θ 3 )−2.15 cos ( θ 4 )−1=0

1.1 cos ( θ 3 )=2.15 cos ( θ 4 ) −0.709

Imaginarios:

2.02 j+1.1 jsen ( θ 3 ) −2.15 jsen (θ 4 )=0

1.1 sen ( θ 3 )=2.15 sen ( θ 4 )−2.02

Se sabe que:

x
¿
¿
x
¿
¿
sen ¿

Entonces se elevara R2 , I 2
2 2
1.21 cos ( θ 3 )=4.622 cos ( θ 4 )−3.048 cos ( θ 4 ) +0.502

II

1.21 sen 2 ( θ 3 )=4.622 sen 2 ( θ 4 ) −8.703 sen ( θ 4 ) + 4.096

 2 2
Sumando R +I

x
¿
¿
Resolviendo x
¿
¿
sen ¿

1.21 ( 1 ) =4.622 ( 1 )−3.048 cos ( θ 4 )−8.703.15 sen ( θ 4 )+ 4.59

0=8.01+ 3.048 cos ( θ 4 )−8.703 sen ( θ 4 )

Se sabe que:

x
2 tan ⁡( )
2
sen ( x ) =
x
1+ tan 2 ( )
2

x
1−tan 2 ( )
2
cos ( x )=
x
1+ tan 2 ( )
2

Reemplazando

0=8.01+ 3.048 cos ( θ 4 )−8.703 sen ( θ 4 )

θ4
2 tan ⁡(
)
2
−8.703 (¿ )
2 θ4
1+ tan ( )
2
θ4
1−tan2( )
2
0=8.01+ 3.048( )¿
2 θ4
1+tan ( )
2

Calculando
 θ4
2 tan ⁡( )
2
−8.703 (¿ )
1
θ4
1−tan 2 ( )
0=8.01(1+tan 2 ( θ24 ))+3.048( 1
2
)¿

0=8.01+ 8.01 tan 2 ( θ24 )−3.048+3.048 ( θ24 )−7.406 tan ⁡( θ24 )

Reemplazando tan ( θ24 )=x
2
11.058 x −17.046 x +4.962

Entonces:

−b ± √ 4 (b)2−4(a)(c)
x 1,2=
2(a)

−(−17.046 ) + √ 4 (−17.046)2−4 ( 11.058 ) (4.962)

x 1=
2(11.058)

x 1=¿ 1.2001

−(−17.046 )− √ 4(−17.046)2−4 (11.058)( 4.96)

x 2=
2(11.058)

x 2=0.3738

Entonces:

tan ( θ24 )=x 1

tan ( θ24 )=1.2001

θ 4 1=100.39 °

tan ( θ24 )=x 2

tan ( θ24 )=0.3738

 θ 4 2=40.99 °

Reemplazando θ 4 1,2 en la ecuación “reales”

1.1 cos ( θ 3 )=2.15 cos ( θ 4 ) −0.709

1.1 cos ( θ 31 )=2.15 cos ( 100.39 ° )−0.709

θ 31=172.26 °

1.1 cos ( θ 3 )=2.15 cos ( θ 4 ) −0.709

1.1 cos ( θ 3 )=2,65 cos ( 40.99 )−0709

θ 32=33.82 °

Posiciones del punto minimo de cierre.

PA=ae j θ =2.65 e j 49.82 °=2.65 cos ⁡( 49.82°)+ 2.65 jsen(49.82 °)

2

PA=1.70+ 2.02 j

PB=PA+ PBA

PA=1.70+ 2.02 j

PBA=BA=be j θ =1.1 cos ( 172.26 ) +1.1 jsen(172.26)

3

PBA=−1.0899+0.148 j
PB=PA+ PBA

¿ 1.70+2.02 j−1.0899+0.148 j

PB=−0.62+2.168 j

PP=PB+ PPB
j θ3 j 141.45°
PPB=be =1.2 e

PPB=1.2cos ⁡( 82.83° )+1.2 jsen(82.83 °)

PPB=0.149+1.1906 J

PP=PB+ PPB

PP=−0.62+2.168 j−0.149+1.1906 j

PP=−0.769+3.3586 J