Instituto Tecnológico de la

Laguna
Ingeniería Mecatrónica
Mecanismos
Banco de problemas #1
Unidad 2. Análisis cinemático de
mecanismos planos
Zavala Nájera Guillermo #19130378

Catedrático: Ing. Cesar Adrián Ocon

Díaz

Torreón, Coahuila México

27 – Marzo – 2021
t
t B qn co Je pto ble »-}Q S

M e cq, n; s Mos • Uriidctcl 'J.

N-C IC,,Jo:s:,.g

Oa1 o s A~ = AO = =, o .... I")

lv I\ a, = ' - o ,. 2 t Q J I5 I Ee = 100
I '
P\.,...

AD '9 b~ rr'4 f .-.)t.c..\' C D = r2 0 M/Y"l

e " e, : ss.
0

0
Se c= 2g. s D

e co= , ,o
0 t ~,, M:., e ; ....,.. p O \ t &-p 'l 0

\J -e to C : cl 4 S J<.. 6( ) C 0 cl e ,1
v e c iote S

. . .
R .i co,S e - e.R s ("\ e .- eA A Sc, e A .- e 8 8 Se-, e13 = t\: Cs~, ec.
1 R sf') e + e R cos e eA A cos eA -+ e! 8 co s 95 ':' 9c C Co~ ec
t
t (-- -0. 2 YCJJ Is ) ( =i<O n, r ss'° - e
5(., 8 ( IOO M n, ) s (') '2 g. s O
=
.
- 0c (
-
12 o _) ~,, G1
0

0
t (o_,2reic.\/s)( ~o~n1) Cosss t 6e( JO IOn-oi~} Co s '2 ~. s~ -= ec (12 0M,...,) Cc s , ,

t
.
41 . :,15 06 ::- - 10 ~ .. qs't 0 c.
.
- g. 0 3 4 !1 - 8 g l 0 e -= s-z . ,~:, 0c
.
- 'i =,. 1 ,s e8 +- ,o '-I . q s <t ec (. I)

Bl . ~S I es St .I t ~ 0c g. O 3 (2)

= - 11 s . e,o 4
- <. ~ c.,--:, ,,.55

.
= = - o . ·o q " y CtJ Is + ec
 ReSy,::\: c. j c S .• I
C
t ct .
t veio t:t\ c.J I Cl bc,,rc.., Be es
-o . '4d Is u
'
0 0 '23 'f'

l~ Vi:loc:_J~ di IG bc.11u CO . ts .. 0. 'fcul /s

r--s.
I
•.J
I
. C
Ocdos. -:. Ji:'\. I
'
lv~e : + '20 r c.J /s f
I~ i"I
r
H i'l ••
De f tt M 1
•1 e :
-l I-
.J ••
t- g . 1 'l 1:; - , i
t.~ ~d.=
~ i-
I ol., : e,o.2s
,0

AB-= 1 ~ . 12. i i'\,

•
it

,,
- t u~ -.& :- 1.... s t) ,_2. }~i '\ II
,2
-
A
= 0 E 2. ; ..,_
,,
,,
SE O = I '3 S
0

p -•

A_ -t_ e_ =_ P_ -r _'=-_ ___,}'

\ __ ",,
.
eA
9,q A
A s ,,
' ".S
eA
E) A +
-
ee
9a
6 s-'"'
8
ee
Co s 6 B -:
- 9£ E
9 E c.
Se-,
Co S
0 E.
9 E.
•
II

-{ 2 Q)( /~. J2 ~'t) Se ,, G, 0 , 2S

0
- 0e( -
12. 3 1' } S, , ly
,C) .
: - e E' t 2 4: " ' s ~,., I 3.5
..-0
•,,
.,,
'
,0 .
( 2,0 ) ( I " · 12 ' " ) Cos (. o . is t- Sa ( 1 2 . 3=, l C o J l'-/ 0
:::
0 c ( 2 'I ) Ca S ' J s If

-,.
. .
- i to - 3e8 - - lb. q1 0r
. - - 3 e. + l(,. <; i 9E
(3 = '2 t O
I ' Q + ,2 e8 :: - I~ . q 1
0 r 1'2 9 G + 1".G1 6e = - 1 ,0
11

l-
.,
, ti o I ' , 91
I
- I (. o
I ' ' qJ I : 1 </ (, " . i -- 'le,, 3 ~ "' q J Is
_,, e
e
l l1
'"· '"11·
If,. 91
- - 2 $ '-f, . S S

''
I
I -

-3
I2
z ,<> I
- -
- I £.o . ,.
,.
::
-
.... ' 1 t§ 0 .:;
" · 3 r e.J / S -• e e
l s 't . s5 - 2 S- 9 . s.s ,.
_.

,.
r
 R~5dL4 )o s i
..
Cj.

\ u.J 9 0 '.2 9 , Jj r r1Jj :- ?

t l q v, Io c i 6 c. J. k 'C. bc.c rt Ct. BD e.s
..
-: i
'r L q ve I o c .- J" d b l<-< b4 uc" DE' t'S l :No£ = ,, I .3 )' 4J/s (J J

0 C\ -\a S :
,0\ ,so'f"\ ""'
VO ::: i' ~co rr..~ / t I
I
Detuni,1 e-: 6 go
c:><..

t. c,. j _ .J. = J1..9.-

A So
0 a O = I ~O • - I • S(,Q -:: I O g , 4 'r ,o ol = 11. s,
0

A a = sc ,,.,.,
eA 6 = 1i . <t<t-a
Bo' - ,s o"' ,.,

-
D -:: A
_,.
+ 'B
-•

' () -, o s eO :: - 6 Se., 6 A - 6 B 8 s~ 11 -0 B
0 St1 eO = e, . A Cl!l s A - + e 8 B cos eB
( ~00 "" ""''s ) cos ?o"' ::
1 - e A ( so~") 1St 'l If> , <.t s,() - e B ( I so ,-, r-, } St."' l o j . '-I', .
( <t oc 1"1"'1 /s) Si, 9o
0
= e-Pi ( Son, ~ ) 'c tc S I! . 'l c;, 0 . + ea ( I So..., ~ l Co s 10~ . So ~~

:
0
/

- I S , 51 $ 0.q
.
- 1v 2_ . t 'B 6 B
.
.
v oo = '-I •43 e A - ,_, =t 1. <ts e a
.
1-'1, . 3 0 B + · I S . XIS 9 A -= 0

'r=1-. <t s es 4 1¾ . 4'3 0A

I
. = - 4 0 0

I 8 IS

L
() I$.
- 'fo ,Q - '( 1, <1 3 o. 'I 1
.
:: ~ 3 2 G.
= YuJ /.s ea
I~ . g I $ - r S0 0

I
I 'f'J. 3 -,..

- 41 , '1 3
t ~ 'I 5 r -1

0
1"{'2,,3 I

I .
e
"r
'
- ',CO - S fo, f20 1• J/ 5 -")-
4 1• '15 -=- '-I

- '}50 0
- t so O
 Re J.J l ±4, ~o S :
• Lc.. vek> c : A"~ de le. es :
P '- q, Vt lo C :' c\ '<- J~ IC4 b ,·e\~ e s

D -\os
E
b= g ""-
tv A t) ; ;. (o 'f o.¢ ks
Oe~e ,,....-4"'1 e ;
C\ \ UJ B-p -= ~-
b1 Ve~ "'~ - 3 ~, = 3 ( 4 - 1) - 2 (4 ) - c = r:, - 8 -=-

C) ~J1 =- ~ p

- AS' - _8_ = HP
0
2 0° Se" , i o ., St"\ 'i O;, ...:;t:,, 2 0

A 8 j 'l. g
BP= S 11 l l ~
S ~., c, ~o.

- -o
B -: p+ I\

. .
8 Co s 6e - ~s r3 s,,_e 8 = - 0 A A S:! , 9a
.
B S,l1 9& + ea B Co S 813 == ~R A Co s €> A

.
8
.
Co S I C. o -o -_ea ( / 0 , 1z i 'l )
•
s.. , ,~o 0
= - ( Gi_ r " d / S J l Vt. 2 S i " ) S (. 'i .J 2 'O e
8 S c, / 110° 1- .E) 8 ( 1'0, 1 g, i., J ( o s , C.o<> = C~ r "' ~'s Li <1. 2 s ,. ., J Co S IZO
tO

0 . q'Jq -1 8 - 3. , i1 0e = - 'l 2 . ot <t

0 . 3 4 ~ 8 - I Ov l ~ 08 = - 1'2 . t5

- 2i . o t 'f - 3• g+

- IL t5 - Io . I 3 = 11 , . 1 :: ,, .y ; 'l/s __. B
- o . 93 f ~ - 3~<,if ·IO, !
o . ~ '11. - I O . I 'f; J

I
- O• 9·'3 9 f

I
- 2 2, 0 & 't
iS
.
0 . ?:, 4 2 - l 2 ,
I• 3I r_: a cl. / S - a, 0 R
\

. IO• 'ti
,~
I - S I r . .1 ~ / '., l .. ..
.a p -e s ; Vop =

3
3 0

0 °' ~O S -:, p,
-.:i
b::: Boo l""lr'I"\ to'
I IA>.,

-a V Ao = 1./E,Ol>i""l/.s
~Q·

A
4 De ten•, i'l ~ ; ~0--1
-s. ~) W AP=

b) \4Jar=~ •~ e P •
? ~ o

......
f\ B
I- 100 -1 8-P .=
-EB

..
..,_ 8 cos eii ea B S t -, es .: ·- et c s .. ,, 0e
loo~,,,
s~" vo 0
2~
0
-::. IS 't. G.J 1>1,;

,.-,. e: st., 9 e + 9s 8 c,, s 0 e -= e·c. C co s 8 c.

--0

..,...,. ( 4 8-o
Se I"\. I <, 0

, . ,;. .-.. I r l s e.,

°
20 0
+ e (3 "1 "1 J ec.
I
( I S 4. (, 3 0
( 40 4 • \! ,., ..... ) ro S l"o
0
Co s120
.
..,.
"W :- ~4t0 ·1 '3 8. 2 '-f
68 .:: -13 & . 24t S e,
,.
.,.
4 '~ . q -
.
7'?. s,s ee = - 3 l ~. 8 e,
13i . 'Z.'18c

,.
'ti 3 =r q . 1ec. - l <?. tis 6 8
.

•• I H O
-¼ 1S . '-f
-IJ 8 . '2l.f
- 1q . i t S : - l 1 Co~! _5) _. j_L •
::: - I• t 'y rq J/ -~ C!

I
13 1 . 2 '-I -1 3 "1,2. 't 4 1 1 <t ,'L'l 3
Q
Q
[ 3t<t,2 - 1({ . 9•S

•• t •H - 2 'f 2 ', 0

.
• l -l 'l.9
I/
-4 , t . ,'l - I it_8 1 (, I • 9 $
',1,<,,9,4?3
-- -i 3. S S r ct J/ s - 1' 6 a
R es v l-+ CA. Jo S .
- 1
LQ
Lo
Ve locrJq!
Vt lo< : J ,, J
~ -
de.
\ G.

l C1..,
b"" <.v
6 '11/Ct,
AP
BP es
s •.
0
\__w
LW Bp
p

:.
'3 - s s }' ~,J

I. gy r -,i.,
-
Is
' ) J

? 1
G ..

0 q -t o s ; I r• ,; "l • =

J. AS ::. S •· "\

e :: 'Z O O

w l\ B uo p.,,
C cc I CJ I" -;
o,; ) e· -=-
bj S -=- !
1 - -+ - - - -
I
k,---x p. .-J4
.
A-,
.
os e -a g - e c. C s 9 c
IG" c-., s t."'l

A St "\ e ;;- - B Stl'I e e + e·c C. co s e C

.
A - cc s
,, Q
O
-.:: ( ,2. s" r " ~I s \ t S ,' '\.)
A. y;-oo -- + (. I "i · S !. t '"4 / s) ( $ r I'\·)
t-

A~ 5 '1 i "/s
.
0 =- ·8 + '2 1 - </ 8
. - i" / s
B
Be.sv i + Jo S -:

l> l4 v~ loc; ~ 4 e\ ckl b I 9 !fve. t':\ C t. : iA

-
- Sq ; "' Is ...... ,
"~-
.
t,
LQ v ~toc:J."1J &l b I () 'fl..C. B e. s : : - -i 1. vg : t\. Is i J

1~
O + os
•\f 1-\ .: -t 2 , ... \ _, / s
0
i s
.
ii

( Bloc, ~• 6 )
#\8 ,. 2 C >).
0
110

8
. . .
B C!J s B e +. F\ COS eA :
. - 0 c. c, s.(., e \!
ii S( '1. e e 1 p; St., 0 A :: ec C l' O.) ec
.
6 c S //o
O O
+ ( 12 r "Is ) c" s 1 'I. o(;j = ' - 6- c, ~ i s ,· 1 '- Se~
0
8 St 't. Ho + ( 12. ;-,t s~ 'Q ~"\ _,,J" o
Ito
0
-::

- I '2
.
. -= - /0 . s ' S' 8 '
o . q'3c, B = -22 . " s 1 0c.
1 0 . S<.. S 0. c - 0 - "342 B
- '::" 1 2
'2 1 . {Q S"1 E}c:, + o . c,3q 8 = 0

I2 ~ O .J 4 2
0 0, 9 3 9
10 . s c,5 - o. 1 t, 2
22, (cS 1 o. 93 q

I
/0 . s 5 /2
2 2 .. <c si 0
-2=tl ,Ui 4 = - 15.38 ;'1 /s
11. ·~ (, ~

,. La ;.,Je, lo c: J ... J. JJL ( ,~ 6 c, rrc'- A8 es .. LWa ~ o. G.3 ~ r l(. A/ s

;, , -=-
CJ
L ct v e lo c: J<, J &l blo~ve.. ._B
8 es : -::.
I s. '3 g ,., I s 1/c,• f

"'.
5. lf--'2SO ----)f

0Gt-t os S O I r

VJ f\ B :: + '-(. s y c,& /s T
'lOO
£ -:. -t 1 co , . ., ,., Is
C ~lc,Je •.
?
1 A E
53 ,. 13
0

a) Lveo • 1 - I SO --t

b} L,J 0 ,: -- 1.
C ) {j cl f :a .
?
 •4
DE • ~ 0 )
1
t ( IS O)
- 2"\
8
eo
DE ::. '2 S o ~,.....

eo e: -::.. 3Cb . t~~ A

...
A t s + o=E
.,. . ...
- e. A A s.. I\ a - 0e B St" 6 B eD P sM 6p ::
0 -Pt A c-~ s 6 A + 6B G (t1S 89 t 0o O ' os eo

- c;o o + 90
.
-: tOO - --
'I'->
1 00

"l S 0 ea .,i. 15 0 60 = 0
6 = s .,. ,<Ji.{~
. 0 100 + .::, ~ o -:.

0g : - I S,._Q ,it : - 9,g r c..J Is

'2cc

'2. S' 0

, R<? s •, +"- Aa s " 1

• l CI.- v .t loc: A. -.J Je let bc.1 r ct DE.
Lei V ~ l oc:J Q J J<l IC'< 6--,,rec. S O ; 1 ·W 80 =
,9d1
'}.
0 cdo s ;

lv a0- -- - 3 0 0 -rpPi A
\J e. J o c. 6c. tl le. P -+ 3 • 5 : " I s ->- E
Oe +er,,.,:.-. e
w lt P _ ?
- ,
:
r
-z.o·,'l.
e a ': , oo
l C:, fl Joe = .8..£_
20
V ao -= :
AP= · tl . bs; I'\

cf/=e
0

-, - I>
p t A = 8

B
CoS 3 cf ::.
- -
'2. 0
BP

Bf= '2. 3 .l;'l

•
•
A Ct) o ef:\ - e A A Se'\ ePi:; 8 ccs e ~ - e (3 s s ~,, e 8
A s ' "' eA -t er.\ A cos 9 A :: 8 Sti ea +- 8 B 8 r o:, 0 6
.
1
........u'I'

:--3
- 300
~r
. ,61 \ 21Y r4 6
t r/"
I I ~
"o s
- '3 I . '-I I Y c.i.,J / S I

(0

s ,,, )
• __>
c oso
0 0
( 3 ~:) - i..ri/s) 0
eA
p
( // . 5 s -t --1 0 -.:: B CO s. " 0 - ( - 3I a "' I r ~d t $ ) ( 2 3. l )
.()
.,, I
S-tf\'70

b3 ( 5. 5 i:¥s,.,'o t
0
0
e fl t fl S sr : *l 1
C )<, 5 dO t:- B $ c,, 1<, o f> +r { T- 3 TI, v tl rrctclts )' C 2 3. 1 )
,o
) _

. 0
Co s t-- t- ,.. ... ·t--- ...

=--a
3.~ -- o. 5 S
.
•
t G, 2 t . '3 b
I I. S S 0A, ::: o . ~·
.
e -
f
I -
3 ~ 2 .'2:t
.
I
I . .I .!
I
B ·: 3- s l - 2 t ) 'c. = - / 2 "'19. 1" :') / s +
i +

G·S
- o . sc-b ( - ;"Isl - a '-2 . '1-t
9A = 12 <tQ . =t = - 12 6 . JO r- ~J. / 5
/ I. S S '

...... RO s "' '" + s .: .

i ,5 I Q ' I

......
_, l G. .v~ l9 c; 4 A Q, J q_ l q, b ({. u
T
c." I
RP
I
•... . ~A~ = 1 2'5. Id
I
y l ~~
,
Is
t 1

..• -

r
I' L <:4 Vt. lo(; c! 9; ~ -l p ol ~e. P .S oh re.. ! \ q Y Ct'l ..> r o ..

.. , '2 y 9 • =t • '} GOO

.... I

-ii
-ii