1.

CINEMATICA DIRECTTA;

x=( L2 sin q 2+ L3 sin ( q 2+ q3 ) ) cos q1

y=( L2 sin q 2 + L3 sin ( q2 +q 3) ) sin q1

z=L1 + L2 cos q2 + L3 cos(q2 +q 3)

2. CINEMATICA INVERSA
3. eslabón 1:
ẋ 1=0 ẏ 1=0 ż 1=0
E p 1=m1 g L c1

1
Ec 1= I 1 q˙1
2
2
4. Eslabn 2
ẋ 2=Lc 2 [c1 c 2 q˙2−s1 s 2 q̇1 ]
ẏ 2=Lc 2 [ s 1 c 2 q̇2 +c 1 s 2 q˙1 ]
ż 2=−Lc 2 s2 q̇ 2

2 2 2 2 2 2 2 2
ẋ 2=Lc 2 [c1 c 2 q˙2 + s 1 s2 q̇ 1 −2c 1 c 2 s1 s 2 q̇1 q̇2 ]
2 2 2 2 2 2 2 2
ẏ 2=Lc 2 [s 1 c 2 q̇2 +c 1 s 2 q˙1 +2 s1 c 2 c 1 s 2 q˙1 q̇2 ]
2 2 2 2
ż 2=Lc 2 s2 q̇2
v 22=L2c2 [ s22 q̇22 +c 22 q̇22 +s 22 q̇12 ]=L2c 2 [ q̇22 + s22 q̇12 ]
1 1
Ec 2= m 2 L c2 [ q̇ 2 + s2 q̇1 ] + I 2 ( q̇1 + q̇ 2)
2 2 2 2 2
2 2
E p 2=m2 g ( L1+ L c2 cos q 2 )

5. eslabón 3
ẋ 3=( L2 c 2 q̇2 + Lc 3 c 23 ( q̇2 + q˙3 ) ) c 1−( L2 s 2+ L c3 s 23 ) s 1 q˙1
ẏ 3=( L2 c 2 q̇2 + Lc 3 c 23 ( q˙2+ q̇3 ) ) s 1+ ( L2 s2 + Lc 3 s23 ) c 1 q̇1
ż 3=−L2 s 2 q˙2−Lc 3 s23 ( q̇2 + q̇ 3)
Usamos la propiedad:
( a+ b )2 ≠ a2+ b2
2 2
ẋ 23=( L2 c 2 q̇2 + Lc 3 c 23 ( q̇2 + q˙3 ) ) c 21+ ( L2 s2 + Lc 3 s23 ) s 21 q̇12−2 ( L2 c2 q̇ 2+ Lc 3 c 23( q̇2 + q˙3) ) ( L2 s 2+ L c3 s 23 ) s1 c 1 q̇1
2 2
ẏ 23=( L2 c 2 q̇2 + Lc 3 c23 ( q̇ 2+ q̇3 ) ) s21 + ( L2 s 2+ L c3 s 23 ) c 21 q̇12 +2 ( L2 c 2 q̇2 + Lc 3 c23 ( q̇2 + q̇ 3) ) ( L2 s 2+ Lc 3 s 23) s1 c 1 q˙1
2 2 2 2 2 2 2
ż 3=L2 s 2 q˙2 + L c3 s 23 ( q̇2 + q̇ 3) +2 L2 L c3 s 2 s23 q̇2 ( q̇2 + q˙3)
Por lo tanto:
2 2 2
v 23=( L2 c 2 q˙2+ L c3 c 23 ( q˙2 + q̇3 ) ) + ( L2 s2 + Lc 3 s 23) q̇ 12 + L22 s 22 q˙22+ L2c3 s 223 ( q̇2 + q˙3 ) + 2 L2 Lc3 s 2 s 23 q˙2 ( q̇2 + q˙3)

2 2 2
v 3=( L2 s 2+ Lc 3 s 23) q˙1
2 2 2 2 2 2
+ L2 s 2 q˙2 + L c3 s 23 ( q̇2 + q˙3 ) + 2 L2 Lc3 s 2 s 23 q̇ 2( q̇2 + q˙3)
2 2 2 2 2 2
+ L2 c 2 q˙2 + Lc 3 c 23 ( q˙2+ q̇3 ) +2 L2 Lc 3 c 2 c 23 q̇2 ( q̇2 + q˙3 )
2 2 2 2 2 2 2 2
v 3=( L2 s 2+ Lc 3 s 23) q˙1 + L2 q̇2 + Lc 3 ( q̇2 + q˙3 ) + 2 L2 Lc3 c 3 ( q̇ 2 + q˙2 q̇3 )
 Energía cinética y potencial:

1 1
2
[ 2 2 2 2 2 2 2
2
]
EC 3= m3 ( L2 s 2+ Lc3 s 23 ) q̇1 + L2 q˙2 + Lc 3 ( q̇ 2+ q̇3 ) +2 L2 Lc 3 c 3 ( q˙2 + q̇2 q̇3 ) + I 3 ( q˙1+ q̇2 + q˙3 ) E p 3=m3 g ( L1 + L2 c2 + Lc 3 c23 )
2

TORQUES:

( )
d ∂L
−
∂L
=τ
dt ∂ q̇ 1 ∂ q1 1

1 2 1 2 1 2 1 2 1 2 1
2 2
2
2
2 2
2 2 2
2 2
[
L= I 1 q˙1 + ( m 2 Lc 2 +m 3 L2 ) q˙2 + m 2 Lc2 s 2 q̇1 + I 2 ( q̇1 + q˙2 ) + I 3 ( q˙1+ q̇2 + q˙3 ) + m3 ( L2 s 2 + Lc3 s23 ) q̇1 + Lc3 ( q˙2 + q̇3 ) +2 L
2 2 2

1 2 1 2 1 2 1 2 1 2 1
2 2
2
2
2 2
2 2 2
2 2 2
[
L= I 1 q˙1 + (m2 L c2 +m3 L2 ) q̇2 + m2 Lc 2 s2 q̇1 + I 2 ( q˙1+ q̇2 ) + I 3 ( q̇1 + q̇ 2+ q̇3 ) + m3 ( L2 s2 + Lc 3 s 23) q̇ 1 + Lc 3 ( q̇2 + q˙3 ) + 2 L
2 2

∂L
=0
∂ q1

∂L
=
∂ ( 12 I q˙ + 12 m L
1
2
1 2
2 2
c2 2
1
2
1
2
1
s q̇12 + I 2 ( q˙1+ q̇2 )2 + I 3 ( q˙1 + q̇2 + q˙3 )2 + m3 ( L2 s 2+ Lc3 s 23 )2 q̇12
2 )
∂ q̇1 ∂ q˙1

∂L 2 2 2
=I 1 q˙1+ m2 Lc 2 s2 q̇1 + I 2 ( q̇1 + q̇ 2) + I 3 ( q̇ 1+ q̇2 + q˙3 ) +m3 ( L2 s 2 + Lc3 s 23 ) q̇1
∂ q̇1

d ∂L
( )
dt ∂ q̇ 1
=I 1 q¨1+ m2 L2c 2 [ q¨1 s22 +2 c 2 s 2 q˙2 q˙1 ] + I 2 ( q¨1+ q̈2 ) + I 3 ( q̈1 + q¨2+ q̈3 ) + m3 [ q¨1 ( L2 s 2 + Lc3 s 23 ) +2 ( L2 s2 + Lc 3 s23 ) (L2 c 2 q˙2 + Lc3 c
2

[
τ ¿ q̈1 +m2 L2c 2 [ q̈1 s 22 +2 c2 s 2 q̇2 q̇1 ] + I 2 ( q̈1 + q¨2 ) + I 3 ( q¨1+ q̈2 + q¨3 ) +m3 q̈1 ( L2 s 2+ Lc 3 s 23) 2+ 2 ( L2 s 2+ Lc3 s 23 ) ( L2 c2 q̇2 + Lc 3 c23 ( q˙2+ q̇3 ) ) q˙

( )
d ∂L
−
∂L
=τ
dt ∂ q̇ 2 ∂ q2 2

∂L
=
∂ ( 1
2
(
1 1 1
[
m2 L2c 2+m3 L22) q̇22 + I 2 ( q˙1+ q̇2 )2 + I 3 ( q˙1+ q̇2 + q˙3 )2 + m3 L2c3 ( q̇ 2+ q̇3 )2 +2 L2 Lc 3 c3 ( q˙22+ q̇2 q̇3 )
2 2 2
])
∂ q̇2 ∂ q̇ 2

∂L
=( m2 Lc 2+m 3 L2) q̇2 + I 2 ( q̇1 + q̇2 ) + I 3 ( q̇ 1+ q̇2 + q̇ 3 )+ m 3 Lc 3 ( q̇2 + q˙3 ) +m 3 L2 Lc3 c 3 ( 2 q˙2+ q̇3 )
2 2 2
∂ q̇2

d ∂L
( )
dt ∂ q̇ 2
=( m2 Lc2 +m3 L2) q̈2 + I 2 ( q¨1+ q̈2 ) + I 3 ( q̈1 + q¨2 + q̈3 ) + m3 Lc 3 ( q̈2 + q¨3 )+ m3 L2 L c3 [ ( 2 q̈2 + q¨3 ) c 3−s3 q̇3 ( 2 q̇2 + q˙3 ) ]
2 2 2

∂L
=
∂ ( 12 m L 2
2
c2 2
1
s q˙12+ m3 ( L2 s2 + Lc 3 s 23) 2 q˙12−g ( m2 Lc 2+ m3 L2 ) c2 −m3 g Lc3 c 23
2
2 )
∂ q2 ∂q 2

∂L 2 2 2
=m2 Lc 2 s 2 c 2 q̇1 +m3 ( L2 s 2 + Lc 3 s23 ) ( L2 c2 + Lc 3 c23 ) q̇ 1 + g ( m2 L c2 +m3 L2 ) s2 +m3 g Lc 3 s23
∂ q2
 τ 2=( m2 L2c2 +m3 L22 ) q¨2+ I 2 ( q̈ 1+ q̈2 ) + I 3 ( q̈1 + q¨2+ q̈3 ) +m3 L2c3 ( q¨2+ q̈3 ) + m3 L2 Lc 3 [ ( 2 q̈2 + q¨3 ) c3 −s 3 q̇3 ( 2 q̇2 + q˙3 ) ]−m2 L2c2 s 2 c2 q̇ 12−m

d ∂L
( )
−
∂L
=τ
dt ∂ q̇ 3 ∂ q3 3

∂L
=
∂ ( 12 I ( q̇ +q˙ + q̇ ) + 12 m [ L
3 1 2 3
2
3
2
c3 ( q˙2+ q̇3 ) +2 L2 Lc 3 c3 ( q˙2 q˙3 ) ]
2
)
∂ q̇3 ∂ q̇3

∂L 2
=I ( q̇ + q˙ + q̇ ) +m 3 Lc3 ( q˙2+ q̇3 ) + m3 L2 Lc 3 c3 q˙2
∂ q̇3 3 1 2 3

d ∂L
( )
dt ∂ q̇ 3
2
=I 3 ( q̈1 + q¨2+ q̈3 ) +m3 Lc3 ( q¨2+ q̈3 ) + m3 L2 Lc 3 [ q̈2 c 3−s3 q̇3 q̇ 2]

∂L
=
∂ ( 12 m [( L s + L
3 2 2 c 3 23 ]
s )2 q˙12+ 2 L2 L c3 c 3 ( q̇22 + q˙2 q˙3 ) −m3 g Lc 3 c 23 )
∂ q3 ∂ q3

∂L
=m3 Lc3 ( L2 s2 + Lc 3 s 23) c 23 q̇1 −m3 L2 Lc 3 s3 ( q˙2 + q̇2 q̇3 ) +m3 g Lc 3 s23
2 2
∂ q3

τ 3 =I 3 ( q¨1+ q̈2 + q¨3 ) +m3 L2c 3 ( q̈2 + q¨3 ) +m3 L2 Lc 3 [ q¨2 c3 −s 3 q̇3 q̇2 ]−m3 Lc 3 ( L2 s 2 + Lc3 s23 ) c 23 q˙12+ m3 L2 Lc 3 s3 ( q̇22 + q̇ 2 q˙3 )−m3 g L c3 s

INERCIA

[ ]
2 2 2
I 1 +m2 Lc 2 s 2+ I 2 + I 3 + m3 ( L2 s 2+ Lc 3 s 23) I 2+ I 3 I3
M= I 2+ I 3 (m2 L 2
c2 +m3 L ) + I 2 + I 3+ m3 L + 2 m3 L2 Lc 3 c3 I 3 +m3 L +m3 L2 Lc 3 c 3
2
2
2
c3
2
c3
2 2
I3 I 3 + m3 Lc3 + m3 L2 Lc 3 c3 I 3 + m 3 Lc 3

MATRIZ DE CORIOLIS

[
2 m3 ( L2 s 2+ L c3 s 23 ) ( L2 c 2 q̇2 + Lc 3 c23 ( q̇ 2+ q̇3 ) ) 2m2 L2c2 c 2
C= −m2 L2c2 s 2 c2 q̇ 1−m3 ( L2 s 2 + Lc3 s 23 ) ( L2 c 2 + Lc 3 c 23 ) q̇1 0
−m3 Lc3 ( L2 s 2+ L c3 s 23 ) c23 q̇1 m3 L2 Lc 3

VECTOR DE GRABEDAD

[ ]
0
G= −g ( m2 Lc 2+ m3 L2 ) s 2−m3 g Lc 3 s23
−m3 g L c3 s 23

DINAMICA
 [ ][ ] [
2 2 2
I 1+ m2 Lc 2 s2 + I 2+ I 3 +m3 ( L2 s2 + Lc 3 s23 ) I 2+ I 3 I3 q̈ 1
τ= I 2+ I 3 ( m2 L 2
c2 + m3 L ) + I 2 + I 3 +m3 L +2 m3 L2 Lc3 c 3 I 3 +m3 L +m3 L2 Lc3 c 3
2
2
2
c3
2
c3 q̈ 2 +
I3
2
I 3 +m3 Lc 3 +m3 L2 Lc3 c 3 I 3 +m3 Lc3
2 q̈3