Documente Academic
Documente Profesional
Documente Cultură
Mecnica de
los cuerpos
macroscpicos
Cinemtica: Rama
de la Mecnica que
se dedica a la Cintica: Rama de la
descripcin del Mecnica que se
movimiento dedica a investigar las
mecnico sin causas que provocan el
interesarse por las movimiento mecnico.
causas que lo
provocan.
Movimiento
Cinemtica de los manipuladores: mecnico
Propiedades
geomtricas y temporales del
movimiento de brazos articulados
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Como inicio...
Recuerda que es el producto interno
X = = = + + +
= cos
cos =
Cinemtica Directa
q3
q2
Y0
q1
Z0 X0
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Cinemtica Directa
q1(t)
X2,Y2,Z2 =???
q3
Link 3
q2(t)
q2
Link 2 X1,Y1,Z1 =???
Link 1
q3(t)
q1
????
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Z0
O1
k0
O1
i0 j0 Posicin del
Orientacin delcuerpo
cuerpo
1
i1 = i1x io + i1y jo + i1z koO x i1x = i1 io
X0 Y0
O1 = O1y
j1 = j1x io + j1y jo + j1z ko i1y = i1 jo
O1 z
i1z = i1 ko
k1 = k1x io + k1y jo + k1z ko
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X0 Y0
Pox = P0 io
Pox = P1 io = P1x i1 io + P1y j1 io + P1z k1 io
Poy = P1 jo = P1x i1 jo + P1y j1 jo + P1z k1 jo
Poz = P1 ko = P1x i1 ko + P1y j1 ko + P1z k1 ko
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j1
i0 Pero visto desde el SC1
j0
P1 = P1x i1 + P1y j1 + P1z k1
X0 Y0
Matricialmente tenemos...
Pox i1 io j1 io k1 io P1x
j1
i0 Pero visto desde el SC1
j0
P1 = P1x i1 + P1y j1 + P1z k1
X0 Y0
Matricialmente tenemos...
Pox i1 io j1 io k1 io P1x
Poy = i1 jo j1 j o k1 jo P1y
Poz i1 ko j1 ko k1 ko P1z
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i1
k0 k1
j1
i0 j0 As, la Matriz viene a ser...
X0 Y0
Pox P1x
Poy = i1 j1 k1 P1y
Poz P1z
R0 1 Matriz de Rotacin
i1
Po = R01 * P1
k0
k1
j1
i0
j0
Y0
X0
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R0 1 Matriz de Rotacin
i1
k0
Pox P1x
k1
Poy = P1y
i0
j0
j1
i1 j1 k1
Poz P1z
Y0
X0
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R0 1 Matriz de Rotacin
Y
P0 Pox P1x
Poy =
R0 1 P1y
Poz P1z
P1
...La ortogonalidad de la matriz mantiene
la norma del vector...
Z
X
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Rotaciones elementales...
XZY000
Sentido Positivo de las rotaciones
XZ11
j
ik111 YZ11 cos() sen () 0
i
kj111 RZ, = sen() cos () 0
ji11k1 0 0 1
Z X
YX00 0 YX11 ZY000
1 0 0 cos() 0 sen ()
RX, = 0 cos() sen () RY, = 0 1 0
0 sen() cos () -sen() 0 cos ()
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i1
X1 Z2 R0
2 = RZ,90*RY,90
Y0
X0
X2
Z0
Y0
Y2
Y1 R02 = RY,90*RZ,90
Y0 X2
Z0
Y0 Z0 Y2
Y1
Y0 Z2
X0 Z1 R02 = RY,90*RZ,90
X1 X2
= R02 = RZ,90*RY,90
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Z0 Z1
Z1 Z2
R02 = R01 *R12
Y2
Y0 R01= RY,
Y11
X1 R12= ?? RY,90
X0
X1
X2 debemos determinar R12
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Z1 Z
Z2 R12= RY, - * RZ, * RY,
Z Y
Y2 R02= RY, * RY, - * RZ, * RY,
Y
Y0
Y1 Ley de Composicin
de Rotaciones
X R02= RZ, * RElementales
Y,
X Rotaciones Sistema Mvil
X0
X1
X2
X R0n = R1*R
2DA 2
**Rn 1RA
R0n = Rn*R2*R1
Rotaciones Sistema Base
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Rotamos sobre el eje de giro
Z1 Z Z2
Z Y DesalineamosDevolvemos la
Y2 alineacin inicial
Y
Y0
Y1
X
X
X0
X
X1
X2
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rz
Rr, = RZ, * RY, * RZ, * RY, - * RZ, -
ry
Y0
rx
ry
sen( ) = cos( ) =
rx
ry
Y0 rx2 + ry2 rx2 + ry2
rx
dondeK A = (1 cos )
Toda matriz tiene un eje-ngulo equivalente
r11 + r22 + r33 = (rx2 + ry2 +1 rrz2 )+
A r+ 3+cos
r33 1
r11 r12 r13 = cos 11 22
r11 + r22 + r33 = A + 3 cos = 1 cos 2 + 3 cos
R = r21 r22 r23 r32 r23
r32 r23 = ry rz A +rrx sen1 (ryrz A rx sen)
r31 r32 r33 r= r13 r31
r32 r23 = 2rx sen 2sen() r r
21 12
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2 2
1 0 0
r32 r23
1
r13 r31
Z0 r
r=
2sen()
rz r21 r12
X1
= 120
0 1 1
ry r 1 0 1 = 0,577 1
r=
120
Y0 2sen(120 )
rx Z1 0 1 1
Y1
X0
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Angulos de Euler
Se generan a partr de 3 rotaciones elementales
X-Y-X
X-Y X-Y-Z
X X-Z-X
X-Z
Y-X-Y X-Z-Y
Y-X
Y Y-X-Z Y-Z-X
Y-Z
Z-Y-X Y-Z-Y
Z-Y
Z Z-Y-Z Z-X-Y
Z-X
Z-X-Z
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Angulos de Euler
Z0
R01= RZ,
Z2 Z3 Y3
R12= RY, R02= RZ, RY,
Z1
Y1 Y2 R23= RZ,
Y0 R03= RZ, RY, RZ, =Reuler
ccc ss ccs sc cs
Reuler = scc + cs scs + cc ss
X0
sc ss c
X1
X3
X2
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Transformaciones Homogneas
Consideremos tambin la traslacin del objeto rgido
i1
k1 r r r
Z0 P0 = O 10 + R 10 P1
j1
r r r
P1 R10 P0 = R10 O 01 + R10 R 01 P1
k0
O10 r 1 Pr
T
1 Or 1
T
P0 P1 = R0 0 R0 0
Matricialmente
i0 j0 r r r r
P0 R10 O10 P1 r P0 r
= r P0 = 31
= A 0 P1
1
13
1 0 1 1 1
X0 Y0
representacin homogenea
Matriz de transformacin homogenea
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Transformaciones Homogneas
(A A 1)T 0
r r 0 r 1
P0 R 10 1
O 0 P1
= r
1 013 1 1
r T r r
P1 R1 R1 O01 P0
T
=r
0 0
La trasformacin 1 013
Vector de Perspectiva Escala 1 1
inversa
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Transformaciones Homogneas
Consideremos algunas traslaciones elementales
Z0
1 0 0 0
0 1 0 0
d A10 = Tras z ,d =
Z1
0 0 1 d
X1
Y1
0 0 0 1
X0 Y0
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Transformaciones Homogneas
Consideremos algunas traslaciones elementales
Z0
1 0 0 d
0 1 0 0
Z1
A10 = Tras x ,d =
d 0 0 1 0
X1
Y1
0 0 0 1
X0 Y0
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Transformaciones Homogneas
Consideremos algunas traslaciones elementales
Z0
1 0 0 0
0 1 0 d
Z1
A10 = Tras y ,d =
d 0 0 1 0
X1
Y1
0 0 0 1
X0 Y0
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Transformaciones Homogneas
Consideremos varios sistemas r r r
i1
P0 = O01 + R01 P1
r r r
k1 P1 = O12 + R12 P2
Z0
j1
O12
k0
O10
P1 r r
P0 P0 = A0 P1
1
i0 j0 P2
r r
P1 = A1 P2
2
Y0
X0 r r r r
P0 = A0 P1 = A0 A1 P2 = A0 P2
1 1 2 2