Simulacion de Cinematica Articular De Una

Maquina Trituradora
Hugo Edgardo Oliva Moreno
September 28, 2015

Objetivo: Realizar la simulacion de la cinematica articular de una maquina

trituradora en MatLab.
1. Se realiz
o el an
alisis cinematico articular de la maquina trituradora, del
cual se obtuvieron las siguientes ecuaciones que describen su comportamiento
cinem
atico.
Posici
on
A = 2ldcos() + 2ds
(1)

B = 2ldsin() 2da

(2)

(3)

C = l + d + s + a h 2lscos() 2lasin()

A A2 + B 2 C 2
)
= 2 arctan(
C B
= 2 Arctan(
Velocidad

lsin() dcos() + s
)
h lcos() + dsin() + s

sin( + )l
=
cos( )d
=

l(sin()
+ cos()( sin(+)
cos() )
hsin()

(4)
(5)

(6)

(7)

Aceleraci
on

lsin()
+ l2 cos() + h 2 cos() + dcos()
d 2 sin()
=
hsin()

(8)

lsin(
) + l2 cos( ) + h 2 + d 2 sin( )
=
dcos( )

(9)

2. Utilizando las ecuaciones anteriores se creo un script en MatLab para

calcular las posiciones, velocidades y aceleraciones de cada eslabon y graficarlas
para observar su comportamiento bajo un movimiento uniformemente acelerado.

%Cinematica a r t i c u l a r de maquina t r i t u r a d o r a
clear
clc
hold o f f
close a l l
x = input ( I n g r e s a l a s d i m e n s i o n e s d e l mecanismo de l a s i g u i e n t e
forma [ l h d a s ] : ) ;
z = [ x ( 1 ) x ( 2 ) x ( 3 ) sqrt ( x ( 4 ) 2 + x ( 5 ) 2 ) ] ;
z = sort ( z ) ;
%s e comprueba que cumpla l a l e y de Grashof
i f z ( 1 )+z ( 4 ) <= z ( 2 )+z ( 3 )
f p r i n t f ( Cumple Ley de G r a s h o f \n ) ;
t = 0:.5:360;
alfa = 1;
theta0 = 0;
thetap0 = 0 ;
n = length ( t ) ;
t h e t a = zeros ( s i z e ( t ) ) ;
t h e t a p = zeros ( s i z e ( t ) ) ;
t h e t a 2 p = zeros ( s i z e ( t ) ) ;
%s e c a l c u l a l a a c e l e r c i o n , v e l o c i d a d y p o s c i c i o n de t h e t a
f o r i =2:n
i f t h e t a p ( i 1) >= 1 8 8 . 5
alfa = 0;
thetap0 = 1 8 8 . 5 ;
end
theta2p ( i ) = a l f a ;
thetap ( i ) = thetap0 + a l f a t ( i ) ;
theta ( i ) = theta0 + thetap ( i ) t ( i ) + 0 . 5 ( a l f a t ( i ) 2) ;
end
%s e
A =
B =
C =

cre an l o s v e c t o r e s c o r r e s p o n d i e n t e s de phy y b e t h a
2 x ( 5 ) x ( 3 ) 2 x ( 1 ) x ( 3 ) cos ( t h e t a ) ;
2 x ( 1 ) x ( 3 ) s i n ( t h e t a ) 2 x ( 4 ) x ( 3 ) ;
x ( 4 ) 2 + x ( 3 ) 2 + x ( 1 ) 2 + x ( 5 ) 2 x ( 2 ) 2 2 x ( 1 ) x ( 5 ) cos (
t h e t a ) 2 x ( 4 ) x ( 1 ) s i n ( t h e t a ) ;
phy = 2 atan(( A + sqrt (A. 2 + B. 2 C. 2 ) ) . / ( C B) ) ;
betha = 2 atan ( ( x ( 4 ) x ( 1 ) s i n ( t h e t a ) x ( 3 ) cos ( phy ) ) . / ( x ( 2 ) + x
( 5 ) x ( 1 ) cos ( t h e t a ) + x ( 3 ) s i n ( phy ) ) ) ;
phyp=(x ( 1 ) . t h e t a p . s i n ( betha+phy ) ) . / ( x ( 3 ) . cos ( bethaphy ) ) ;
bethap=(x ( 1 ) . t h e t a p . ( s i n ( t h e t a )+cos ( phy ) . ( s i n ( betha+t h e t a ) . / cos
( bethaphy ) ) ) ) . / ( x ( 2 ) s i n ( betha ) ) ;
phy2p=(x ( 1 ) . t h e t a 2 p . s i n ( t h e t a betha )+x ( 1 ) . t h e t a p . 2 . cos ( t h e t a
betha )+x ( 2 ) . bethap .2+ x ( 3 ) . phyp . 2 . s i n ( bethaphy ) ) . / ( x ( 3 ) .
cos ( bethaphy ) ) ;
betha2p =(x ( 1 ) . t h e t a 2 p . s i n ( t h e t a )+x ( 1 ) . t h e t a p . 2 . cos ( t h e t a )+x ( 2 )
. bethap . 2 . cos ( betha )+x ( 3 ) . phy2p . cos ( phy )x ( 3 ) . phyp . 2 .
s i n ( phy ) ) ./( x ( 2 ) . s i n ( betha ) ) ;
n=length ( t h e t a ) ;

%s e g r a f i c a l a p o s c i s i o n de l o s e s l a b o n e s
subplot ( 2 , 1 , 1 )
plot ( [ 0 x ( 1 ) cos ( t h e t a ( 2 ) ) x ( 5 ) + x ( 3 ) s i n ( phy ( 2 ) ) x ( 5 ) ] , [ 0 x ( 1 )
s i n ( t h e t a ( 2 ) ) x ( 4 ) x ( 3 ) cos ( phy ( 2 ) ) x ( 4 ) ] , r ) ;
hold on
plot ( [ 0 x ( 1 ) cos ( t h e t a ( 2 ) ) x ( 5 ) + x ( 3 ) s i n ( phy ( 2 ) ) x ( 5 ) ] , [ 0 x ( 1 )
s i n ( t h e t a ( 2 ) ) x ( 4 ) x ( 3 ) cos ( phy ( 2 ) ) x ( 4 ) ] , bo ) ;

grid on
axis e q u a l
title ( eslabones )
f o r i =1:n
%h o l d o f f
subplot ( 2 , 1 , 2 )
plot ( [ 0 x ( 1 ) cos ( t h e t a ( i ) ) x ( 5 ) + x ( 3 ) s i n ( phy ( i ) ) x ( 5 ) ] , [ 0 x ( 1 )
s i n ( t h e t a ( i ) ) x ( 4 ) x ( 3 ) cos ( phy ( i ) ) x ( 4 ) ] , r ) ;
hold on
plot ( [ 0 x ( 1 ) cos ( t h e t a ( i ) ) x ( 5 ) + x ( 3 ) s i n ( phy ( i ) ) x ( 5 ) ] , [ 0 x ( 1 )
s i n ( t h e t a ( i ) ) x ( 4 ) x ( 3 ) cos ( phy ( i ) ) x ( 4 ) ] , bo ) ;
grid on
axis e q u a l
pause ( . 0 3 )
t i t l e ( movimiento de e s l a b o n e s )
end
%s e g r a f i c a l a s p o s c i c i o n e s y v e l o c i d a d e s de phy , b e t h a y t h e t a con
%r e s p e c t o d e l tiempo
figure
s ( 1 )=subplot ( 3 , 3 , 1 ) ;
plot ( t , t h e t a , b )
hold on
grid on
s ( 2 )=subplot ( 3 , 3 , 4 ) ;
plot ( t , t h e t a p , r )
grid on
s ( 3 )=subplot ( 3 , 3 , 7 ) ;
plot ( t , t h e t a 2 p , g )
grid on
t i t l e ( s (3) , theta2p ( t ) )
t i t l e ( s (2) , thetap ( t ) )
title ( s (1) , theta ( t ) )
b ( 1 )=subplot ( 3 , 3 , 2 ) ;
plot ( t , betha , b )
hold on
grid on
b ( 2 )=subplot ( 3 , 3 , 5 ) ;
plot ( t , bethap , r )
grid on
b ( 3 )=subplot ( 3 , 3 , 8 ) ;
plot ( t , betha2p , g )
grid on
t i t l e ( b ( 3 ) , betha2p ( t ) )
t i t l e ( b ( 2 ) , bethap ( t ) )
t i t l e ( b ( 1 ) , betha ( t ) )

p ( 1 )=subplot ( 3 , 3 , 3 ) ;
plot ( t , phy , b )
hold on
grid on
p ( 2 )=subplot ( 3 , 3 , 6 ) ;
plot ( t , phyp , r )
grid on
p ( 3 )=subplot ( 3 , 3 , 9 ) ;
plot ( t , phy2p , g )
grid on

t i t l e ( p ( 3 ) , phy2p ( t ) )
t i t l e ( p ( 2 ) , phyp ( t ) )
t i t l e ( p ( 1 ) , phy ( t ) )
else
f p r i n t f ( No cumple con l a l e y de G r a s h o f \n ) ;
end

3. Con el c
odigo anterior se obtuvieron las graficas mostradas a continuacion.
Conclusi
on. Del an
alisis realizado se puede observar que los eslabones que
dependen de los
angulos y tienen un comportamiento oscilatorio debido a
la configuraci
on y el movimiento que se genera con respecto de , ademas se
observa un crecimiento proporcional en y respecto al aumento de velocidad
en

Figure 1: grafica de posicion de los eslabones de la maquina trituradora

Figure 2: Graficas de posicion velocidad y aceleracion de , y