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𝑚𝑚
Entonces, la velocidad del gancho es 120 𝑠
𝑗̂
⃗⃗⃗ )
Vg = Vf + WI ^ (fg
Vf = 0
0 0 WI
Vg = | |
40 0 0
120 𝑗̂ = 40 x WI 𝑗̂
WI = 3𝑘̂
Wob=60 rpm Wob= 6,283𝑠 −1
⃗⃗⃗⃗ )
Vb= Vo + Wob ^ (ob
Vo= 0
0 0 6,283
Vb= | |
0 580 0
Vb= -3,644𝑖̂
⃗⃗⃗⃗ )
Vc=Vb + WII ^ (bc
Vc=0
0 0 WII
0 = Vb + | |
0 140 0
-Vb = -140 WII 𝑖̂
WII = -26𝑘̂
⃗⃗⃗ )
Vc = Vg + WIII ^ (gc
0 0 − 26
0 = Vg + | |
0 480 0
-Vg = +12.480 𝑖̂
Vg = - 12.480 𝑖̂
⃗⃗⃗⃗ )
Vg = Vo + WI ^ (og
0 0 WI
Vg = | |
0 240 0
- 12.480 𝑖̂= -240 WI 𝑖̂
WI = 52𝑘̂ (como es positivo, gira en sentido anti horario) consigna a)
⃗⃗⃗ )
Va= Vc + WII ^ (ca
0 0 − 26
Va = | |
0 200 0
Va = 5200 𝑖̂ consigna b)
Va=0 y Vd=0
⃗⃗⃗⃗ )
Vr = Vd + WI ^ (dr
0 0 WI
300 𝑗̂ = | |
15 0 0
300 𝑗̂ = 15 x WI 𝑗̂
WI = 20 ̂𝑘
Vd = Vc + WI ^ (cd⃗⃗⃗⃗ )
0 0 20
-Vc = | |
15 − 25 0
-Vc = 500 𝑖̂ + 300 𝑗̂
Vc = - 500 𝑖̂ - 300 𝑗̂
⃗⃗⃗⃗ )
Vc =Vb + Wbc ^ (bc
0 0 Wbc
- 500 𝑖̂ - 300 𝑗̂ = Vb + | |
40 −5 0
- Vb = 500 𝑖̂ + 300 𝑗̂ + 5 x Wbc ̂𝑖 + 40 x Wbc 𝑗̂
Vb = - 500 𝑖̂ - 300 𝑗̂ - 5 x Wbc ̂𝑖 - 40 x Wbc 𝑗̂
⃗⃗⃗⃗ )
Vb = Va + Wab ^ (ab
Va = 0
0 0 Wab
Vb = | |
15 30 0
Vb = -30 x Wab ̂𝑖 + 15 x Wab 𝑗̂
𝑎𝑑𝑦𝑎𝑐𝑒𝑛𝑡𝑒
Cos θ = ℎ𝑖𝑝𝑜𝑡𝑒𝑛𝑢𝑠𝑎 adyacente = cos 55 x 0,2 adyacente= 0,115 m
⃗⃗⃗⃗ )
Vq = Vo + Woq ^ (𝑜𝑞
Vo = 0
0 0 Wop
Vq = | |
0,115 0,164 0
Vq = - 0,164 x Wop ̂𝑖 + 0,115 x Wop 𝑗̂
⃗⃗⃗⃗ )
Va = Vd + Wexterna ^ (𝑑𝑎
Vd = 0
0 0 − 0,5236
Va = | |
0 1 0
𝑚
Va = 0,5236 ̂𝑖
𝑠
Va es igual a la - Vc
Vc = Vd + WI ^ (𝑑𝑐⃗⃗⃗⃗ )
Vd = 0 y Vc= - 0,5236 ̂𝑖
0 0 WI
- 0,5236 ̂𝑖 = | |
0 0,6 0
- 0,5236 ̂𝑖 = - 0,6 x WI ̂𝑖
⃗⃗⃗⃗ )
Vc = Vb +Wbc ^ (𝑏𝑐
Vb = 0
0 0 10
Vc = | |
120 0 0
Vc = 1.200 𝑗̂
⃗⃗⃗⃗ )
Vd = Vc +Wcil ^ (𝑐𝑑
0 0 𝑊𝑐𝑖𝑙
- Vc = | |
40 0 0
-1.200 𝑗̂ = 40 x Wcil 𝑗̂
Wcil = - 30 𝑘̂
⃗⃗⃗⃗ )
Va = Vc + Wcil ^ (𝑐𝑎
0 0 − 30
Va = 1200 𝑗̂ + | |
120 0 0
Va = 1200
𝑗̂ + 1200
̂𝑖
Vc = Vd + WII ^ (𝑏𝑎⃗⃗⃗⃗ )
Vd = 0
0 0 WII
Vc = | |
0 2 0
Vc = - 2 x WII ̂𝑖
ℎ2 = 𝑐 2 + 𝑐 2 c = √32 − 12 c = 2,83 p
⃗⃗⃗⃗ )
Vc = Va + Wac ^ (𝑎𝑐
0 0 Wac
- 2 x WII ̂𝑖 = 2 ̂𝑖 - 2̂𝑗 + | |
2,83 1 0
- 2 x WII ̂𝑖 = 2 ̂𝑖 - 2̂𝑗 - Wac ̂𝑖 + 2,83 x Wac ̂𝑗