MECANISMO BIELA MANIVELA CORREDERA

CODIGO
clear all
clc
L1=2;
L2=1;
L3=1.5;
m1=15;
m2=5;
mc=2;
T1=200;
M=0;
MF=0;
n=0;
% PARTE CINEMATICA
for fi1=0:20:360
n=n+1;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% DESPLAZAMIENTOS
M(n,1)=fi1;
fi1=M(n,1)*pi/180;
alfa=asin((L3/L2)*sin(fi1));
fi2=pi-fi1-alfa;
M(n,2)=fi2*180/pi;
fi2=M(n,2)*pi/180;
s=L2*sin(fi2)/sin(fi1);
M(n,3)=s;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% VELOCIDADES
Kv=[s*cos(fi1),-L2*cos(fi2),sin(fi1);
-s*sin(fi1),-L2*sin(fi2),cos(fi1);
1,0,0];
% EL VALOR CONOCIDO SERA fi1p = 1.5 rad/s
Iv=[0;
0;
1.5];
% SE CALCULA LAS VARIABLES:
% fi1p (rad/s), fi2p (rad/s), sp (m/s)
V=inv(Kv)*Iv;
M(n,4)=V(1); % fi1p
M(n,5)=V(2); % fi2p
M(n,6)=V(3); % sp
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% ACELERACIONES
Ka=[0,-L2*cos(fi2),sin(fi1)+cos(fi1)*M(n,4);
0,-L2*sin(fi2),cos(fi1);
1,0,0];
% EL VALOR CONOCIDO SERA fi1pp=0 (rad/s^2)
Ia=[-L2*sin(fi2)*(M(n,5))^2-
M(n,6)*cos(fi1)*M(n,4)+s*sin(fi1)*(M(n,4))^2;

L2*cos(fi2)*(M(n,5))^2+sin(fi1)*M(n,6)*M(n,4)+cos(fi1)*(M(n,4))^2*s+si
n(fi1)*M(n,4)*M(n,6);
0];
% SE CALCULA LAS VARIABLES:
% fi1pp (rad/s^2), fi2pp (rad/s^2), spp (m/s^2)
A=inv(Ka)*Ia;
 M(n,7)=A(1); % fi1pp
M(n,8)=A(2); % fi2pp
M(n,9)=A(3); % spp

% PARTE CINETICA
% EN LA BARRA 1
% Fx=m1*ax
% Fy=m1*ay
% M=Ig1*fipp
% EN LA BARRA 2
% Fx=m2*ax
% Fy*m2*ay
% M*ig2*fipp
% EN LA CORREDERA
% Fx=mC*ax
% Fy=mC*ay
% DE LAS ECUACIONES EN LAS BARRAS

% Ax, Ay, Ci, Cx, Cy, Bx, By, T1,

T2
KF=[1, 0, -sin(fi1), 0, 0, 0, 0, 0,
0;
0, 1, cos(fi1), 0, 0, 0, 0, 0,
0;
0, 0, s, 0, 0, 0, 0, 1,
0;
0, 0, 0, 1, 0, 1, 0, 0,
0;
0, 0, 0, 0, 1, 0, 1, 0,
0;
0, 0, 0, -L2*sin(fi2), -L2*cos(fi2), 0, 0, 0, -
1;
0, 0, sin(fi1), -1, 0, 0, 0, 0,
0;
0, 0, 0, -cos(fi1), -1, 0, 0, 0,
0;
0, 0, 0, 0, 0, 0, 0, 1,
0];
% SE CALCULARA LAS FUERZAS (Ax, Ay, Ci, Cx, Cy, Bx y By) EN NEWTON
% SE CALCULARA LOS MOMENTOS (T1, T2) EN NEWTON*METRO
IF=[m1*(M(n,4))^2*L1/2*cos(fi1);
m1*-(M(n,4))^2*L1/2*sin(fi1);
1/12*m1*L1^2*M(n,7) +
(M(n,4))^2*L1/2*cos(fi1)*m1*L1/2*sin(fi1) -
(M(n,4))^2*L1/2*sin(fi1)*L1/2*cos(fi1);
m2*(M(n,8)*L2/2*sin(fi2)+(M(n,5))^2*L2/2*cos(fi2));
m2*(M(n,8)*L2/2*cos(fi2)-(M(n,5))^2*L2/2*sin(fi2));
1/12*m2*L2^2 - m2*L2/2*sin(fi2)*(M(n,8)*L2/2*sin(fi2)+
(M(n,5))^2*L2/2*cos(fi2)) - m2*L2/2*cos(fi2)*(M(n,8)*L2/2*cos(fi2)-
(M(n,5))^2*L2/2*sin(fi2));
mc*(M(n,8)*L2/2*sin(fi2)+(M(n,5))^2*L2/2*cos(fi2));
mc*(M(n,8)*L2/2*cos(fi2)-(M(n,5))^2*L2/2*sin(fi2));
200];
F=inv(KF)*IF;
%%%%%%%%%%%%%%%%%%%%%%%%%
MF(n,1)=fi1;
MF(n,2)=F(1); % Ax
MF(n,3)=F(2); % Ay
MF(n,4)=F(3); % Ci
MF(n,5)=F(4); % Cx
MF(n,6)=F(5); % Cy
 MF(n,7)=F(6); % Bx
MF(n,8)=F(7); % By
MF(n,9)=F(8); % T1
MF(n,10)=F(9); % T2
end
disp('MATRIZ CINEMATICA');
M
disp('MATRIZ CINETICA');
MF
GRAFICAS
%Figura(1)
%plot(M(:,1),M(:,2),M(:,1),M(:,3))
%Figura(2)
%plot(M(:,1),M(:,4),M(:,1),M(:,5),M(:,1),M(:,6))
%Figura(3)
%plot(M(:,1),M(:,7),M(:,1),M(:,8),M(:,1),M(:,9))
FIGURA 1

FIGURA 2
FIGURA 3