INSTITUTO POLITÉCNICO NACIONAL

UNIDAD PROFESIONAL INTERDISCIPLINARIA EN INGENIERIA Y TECNOLOGIAS AVANZADAS

INGENIERIA EN MECATRÓNICA

MATERIA:

ANALISIS Y SÍNTESIS DE MECANISMOS

ALUMNOS:

TAPIA REYES JULIO CÉSAR.

BUENDIA RUVALCABA JUAN.

“ANALISIS DE MECANISMO DE 8 BARRAS “

%---------------------dialogo con el ususario-------------X = imread('imec.png');msgbox('Escribe los valores conocidos en la tabla datos iniciales, asi como la longitud de las barras','8 BARRAS','help'); img=image(X); set(handles.axes1,'Visible','off','YDir','reverse','XLim',get(img,'XData'),'YLim',get(img,'YData')); %------- inicializacion de las las tablas a cero----- nougth1(7,1)=0; nougth2(8,1)=0; nougth3(3,1)=0; %-------coloca ceros en columnas------ set(handles.uitable1,'data',nougth1); set(handles.uitable2,'data',nougth3); set(handles.uitable3,'data',nougth2); set(handles.uitable4,'data',nougth2); %-----------coloca letreros------------- set(handles.uitable1,'ColumnName',{'Datos'}); set(handles.uitable1,'RowName',{'a2','a´3','a´´3','a´´´3','a5','a6','a7'}); set(handles.uitable2,'ColumnName',{'Datos'}); set(handles.uitable2,'RowName',{'W2','alpha','theta'}); set(handles.uitable3,'ColumnName',{'Datos'}); set(handles.uitable3,'RowName',{'w´3','w´´3','w´´´3','xpunto','w5','w6','w7','ypunto'}); set(handles.uitable4,'ColumnName',{'Datos'}); set(handles.uitable4,'RowName',{'a´3','a´´3','a´´´3','xdospuntos','a6','a7','ydospuntos'}); % --- Executes on button press in pushbutton1.function pushbutton1_Callback(hObject, eventdata, handles)% hObject handle to pushbutton1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA) %-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/ global a2;global a3ppp;global theta;global omega;global a7;global alpha;global w3ppp;global theta6grad;global theta7;global al6;global a6;global al3p;global theta3ppp;

%----------boton para calcular todos los valores-----%-------almacena los datos en un vector------------------- longitudes(1:7,1)=sym('0'); datos_conocidos(1:3,1)=sym('0'); longitudes(1:7,1)=get(handles.uitable1,'data'); datos_conocidos(1:3,1)=get(handles.uitable2,'data'); %--------------realiza copias de los vectores----------- clogitudes(1:7,1)=double(longitudes(1:7,1)); cdatos_conocidos(1:3,1)=double(datos_conocidos(1:3,1)); %-----asignacion de cada uno de las longitudes a una variable--- a2=clogitudes(1,1); a3p=clogitudes(2,1); a3pp=clogitudes(3,1); a3ppp=clogitudes(4,1); a5=clogitudes(5,1); a6=clogitudes(6,1); a7=clogitudes(7,1); %----asignacion de cada valor conocido a una variable----- omega=cdatos_conocidos(1,1); alpha=cdatos_conocidos(2,1); theta=cdatos_conocidos(3,1); %-----claculo de los angulos-------- %----para theta 3ppp---- theta3ppp=(real(-asin(-(a2*sind(-theta))/a3ppp))*180)/pi; %------para theta 3pp------ theta3pp=((real(-asin(-(a2*sin(-theta))/a3pp)))*180)/pi; %-----------para theta 5 aproximando------- theta5=@(theta6) asind((a3pp*sind(theta6-theta3ppp)-2.54*(cosd(theta6)-sind(theta6)))/a5)+a6; theta5prox=fzero(theta5,pi); theta5proxdeg=((theta5prox*180)/pi)-180; %----para theta 6------- theta6=atan((a3pp*sind(theta3pp)+a5*sind(theta5proxdeg)+2.54)/(a3pp*cosd(theta3pp)+a5*cos(theta5proxdeg)+2.54)); theta6grad=-((theta6*180)/pi)+180; %---------para theta 7----- theta7=theta6grad-90 %-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/- %----------desplazamiento en x---------- xdesp=a2*cosd(-theta)+(a2*sqrt(a3ppp-sind(-theta))); %---------------desplazamiento en y.------ ydesp=-(a7*cosd(90+theta7))*(1-2*2.54)-2*2.54; %-------velocidades angulares-------- %-------------xpunto----------- xp=(a2*omega*sin(theta3ppp-theta))/(sin(theta3ppp)+cos(theta3ppp));

%-------omega 3ppp- w3ppp=(-a2*sin(45)*omega-xp)/(a3ppp*cos(theta3pp-90)); %-----omega 3pp---- w3pp=(-a2*omega*sin(theta)-xp)/(a3pp*sin(theta3pp)); %-----omega 3p---- w3p=(a2*omega*cos(theta)+a3pp*w3pp*cos(theta3pp))/(-a3p*cos(theta3ppp)); %----para y punto----- yp=((-2.54*sind(theta6grad))*(a2-a7*sind(theta7)))/(a2*cosd(theta6grad)+a7*sin(theta7)); %----omega6------ w6=(-2.54+yp)/(a2*sind(theta6grad)+a7*sind(theta7)); %-----para omega 7------ w7=(-a2*omega*cosd(45)-a6*w6*cosd(90-theta6grad)-2.54)/(a7*sind(theta7-90)); %-----para omega 5--- w5=(a2*omega*(sind(theta))+a3p*w3p+a6*w6*sind(theta6grad)+a7*w7*sind(theta7))/-a5*sind(theta5proxdeg); %-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/-/ %------------aceleraciones -------------------- %--------para al3ppp-------------- al3ppp=(-a2*omega^2*sind(real(90-theta))-alpha*a2*cosd(real(theta))-a3ppp*w3ppp^2*sind(real(theta3ppp)))/(a3ppp*sind(theta3ppp)); %-----para x dos puntos----- xpp=(a2*omega*a3ppp*sind(theta3ppp-theta)+a2*alpha*cosd(theta-theta3ppp)+2*a3ppp^2*w3ppp^2*cosd(theta3ppp)*sind(theta3ppp))/(a3ppp*sind(theta3ppp)); %------para al3pp---------------- al3pp=(a2*alpha*(sind(theta)*cosd(theta3pp)+sind(theta3pp)*cosd(theta))-a2*omega*a3p*(cosd(theta)*cosd(theta3pp)-sin(theta)*sin(theta3pp))+a3p*w3p*(cosd(theta3pp)^2-sind(theta3pp)^2)-xpp*a3p*(cosd(theta3pp)))/(a3p*w3pp*(cosd(theta3pp)*cosd(theta3pp)-sind(theta3pp)*sind(theta3pp))-a3pp*a3p*(sind(theta3pp)*cosd(theta3pp)+cosd(theta3pp)*cosd(theta3pp))); %------para al3p---------- al3p=(-a2*alpha*sind(theta)-a2*omega*cosd(theta)-a3p*w3p^2*cosd(theta3pp)-al3pp*(a3pp*sind(theta3pp)+w3pp^2*cosd(theta3pp))-xpp)/(a3p*sind(theta3pp)); %-------para alpha 6----- al6=-w6^2*a6-2.54*alpha*cosd(theta7)-2.54*sind(theta7)/a7; %-----------para y"---------- ypp=(2*al6-2*2.54*alpha*sind(theta7)-2*a2*cosd(theta7)+sqrt((2*al6-2*a2*alpha*sind(theta7)-2*a2*cosd(theta7)^2-4*(al6^2*(a6*cosd(theta6grad)+a7*sind(theta7))^2+(a6*sind(theta6grad)+a7*sind(theta7))^2))+omega^4*a7^2+a2^2*alpha^2-2.54+2*al6*omega^2*a6*a7+2*al6*2.54*a6*(cosd(theta6grad)+a7*cos(theta7))+2*al3p*a7*2.54*(a6*sind(theta6grad)+a7*sind(theta7))+2*a7*omega^2*2.54*(sind(theta7))+2*omega^2*2.54*a7*cosd(theta7)))/2; %-------alpha 7-----------

al7=a5*a2*alpha*sind(theta-theta5proxdeg)+omega*a2*a5*(cosd(theta-theta5proxdeg))+a3p*al3p*a5*(sind(360-theta5proxdeg))+w5^2*a5^2+a6*al6*a5*(sind(theta6grad-theta5proxdeg))+w6*a6*a5*(cosd(theta6grad-theta5proxdeg))+a7*w7^2*a5*(cosd(theta7-theta5proxdeg))+2.54*a5*sind(-theta5proxdeg)+ypp*a5; %-------alpha 5------------ al5=(-a2*alpha*sind(theta)-omega^2*a2*cosd(theta)-w5^2*a5*(cosd(theta5proxdeg))-a6*al6*sind(theta6grad)-w6^2*a6*cosd(theta6grad)-a7*al7*sind(theta7)-w7^2*a7*cosd(theta7)-2.54+ypp)/(-a5*sind(theta5proxdeg)); %-------------despliegue en uitable3 vel angulares--------- aux(1:8,1)={0}; aux(1,1)= num2cell(w3p); aux(2,1)= num2cell(w3pp); aux(3,1)= num2cell(w3ppp); aux(4,1)= num2cell(xp); aux(5,1)= num2cell(w5); aux(6,1)= num2cell(w6); aux(7,1)= num2cell(w7); aux(8,1)= num2cell(yp); set(handles.uitable3,'data',aux(1:8,1)); %-------------despliegue en uitable3 aceleraciones--------- aux1(1:8,1)={0}; aux1(1,1)= num2cell(al3p); aux1(2,1)= num2cell(al3pp); aux1(3,1)= num2cell(al3ppp); aux1(4,1)= num2cell(xpp); aux1(5,1)= num2cell(al5); aux1(6,1)= num2cell(al6); aux1(7,1)= num2cell(al7); aux1(8,1)= num2cell(ypp); set(handles.uitable4,'data',aux1(1:8,1));% --- Executes on button press in pushbutton2.function pushbutton2_Callback(hObject, eventdata, handles)% hObject handle to pushbutton2 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA) %-----------realiza la llamada a otra gui, despliegue de graficas-----global aposx;global aposy;global a3ppp;global a2;global a7;global theta;global omega;global xvelocidadangular;global xaceleracion;global alpha;global w3ppp;

global yvelocidad;global theta6grad;global theta7;global yaceleracion;global al6;global a6;global al3p;global theta3ppp;%----vector de posicion en x del deslizador horizontalfor i=1:360 aposx(i)=(a2*cosd(-i))+(a2)*sqrt(a3ppp+sind(i));end%------vector de posicion en y del deslizador verticalfor i=1:360 aposy(i)=-(a7*cosd(i+theta7))*(1-2*2.54)-2*2.54; end%-------------xpunto-----------for i=1:360 xvelocidadangular(i)=(a2*omega*sind(theta3ppp-i))/(sind(i)+cosd(i));end %-------x dos puntos-------for i=1:360 xaceleracion(i)=(a2*omega*a3ppp*sind(theta7-theta)+a2*alpha*cosd(theta-i)+2*a3ppp^2*w3ppp^2*cosd(i)*sind(i))/(a3ppp*sind(i));end %----------y punto--------------for i=1:360 yvelocidad(i)=((-2.54*sind(i))*(a2-a7*sind(theta7)))/(a2*cosd(i)+a7*sin(theta7));end%----------y dos puntos--------------yaceleracion(i)=(2*al6-2*2.54*alpha*sind(theta7)-2*a2*cosd(theta7)+sqrt((2*al6-2*a2*alpha*sind(theta7)-2*a2*cosd(theta7)^2-4*(al6^2*(a6*cosd(i)+a7*sind(theta7))^2+(a6*sind(i)+a7*sind(theta7))^2))+omega^4*a7^2+a2^2*alpha^2-2.54+2*al6*omega^2*a6*a7+2*al6*2.54*a6*(cosd(i)+a7*cos(theta7))+2*al3p*a7*2.54*(a6*sind(i)+a7*sind(theta7))+2*a7*omega^2*2.54*(sind(theta7))+2*omega^2*2.54*a7*cosd(theta7)))/2;

%----pasa los datos a otra gui llamada graficasgraficasaposx(1:360);aposy(1:360);xvelocidadangular(1:360);xaceleracion(1:360);yvelocidad(1:360);yaceleracion(1:360);uiwait % --- Executes on button press in pushbutton3.

function pushbutton3_Callback(hObject, eventdata, handles)% hObject handle to pushbutton3 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)%------------opcion de salida--------------option=questdlg('Desea salir de la aplicacion:','SALIR','Si','No','No');if strcmp(option,'No') return;end close graficasclose ingreso_de_datos %////////////////-------fin del programa---------////////////////////